# DAPEVO: Deep Adaptive Patch Frame-Event Visual Odometry

arXiv: https://arxiv.org/abs/2609.30947 · HTML: https://mlsanity.com/paper/2609.30947/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 26 of its 35 references that are in the map.
- First posted on arXiv 25 Sep 2026.

## Builds on (most cited first, 26 of 26)

- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://mlsanity.com/paper/2003.14338/) (2020)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator](https://mlsanity.com/paper/1708.03852/) (2017)
- [Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotion](https://mlsanity.com/paper/1812.08156/) (2018)
- [The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception](https://mlsanity.com/paper/1801.10202/) (2018)
- [D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry](https://mlsanity.com/paper/2003.01060/) (2020)
- [Deep Patch Visual Odometry](https://mlsanity.com/paper/2208.04726/) (2022)
- [DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networks](https://mlsanity.com/paper/1709.08429/) (2017)
- [Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios](https://mlsanity.com/paper/1709.06310/) (2017)
- [Event-based Stereo Visual Odometry](https://mlsanity.com/paper/2007.15548/) (2020)
- [Event-aided Direct Sparse Odometry](https://mlsanity.com/paper/2204.07640/) (2022)
- [Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction](https://mlsanity.com/paper/2102.09320/) (2021)
- [Deep Patch Visual SLAM](https://mlsanity.com/paper/2408.01654/) (2024)
- [A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors](https://mlsanity.com/paper/1901.03642/) (2019)
- [ESVIO: Event-based Stereo Visual Inertial Odometry](https://mlsanity.com/paper/2212.13184/) (2022)
- [Deep Event Visual Odometry](https://mlsanity.com/paper/2312.09800/) (2023)
- [SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments](https://mlsanity.com/paper/2307.07607/) (2023)
- [PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features](https://mlsanity.com/paper/2209.12160/) (2022)
- [Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned](https://mlsanity.com/paper/2207.04914/) (2022)
- [Deep Visual Odometry with Events and Frames](https://mlsanity.com/paper/2309.09947/) (2023)
- [DEIO: Deep Event Inertial Odometry](https://mlsanity.com/paper/2411.03928/) (2024)
- [Deep Visual Odometry for Stereo Event Cameras](https://mlsanity.com/paper/2509.08235/) (2025)

## Abstract (arXiv)

Visual odometry is essential for autonomous navigation in GPS-denied environments, yet RGB-based methods remain vulnerable to motion blur, challenging illumination, and dropped frames. Event cameras complement conventional cameras with high temporal resolution and dynamic range, but their asynchronous measurements complicate reliable correspondence estimation. We present DAPEVO, a learned visual odometry system that estimates image and event correspondences independently at shared patch locations and fuses their correlation evidence before motion refinement. Each tracked patch maintains image and event descriptors, and a learned scalar gate combines modality-specific correlation embeddings for each patch--frame edge before a shared recurrent refinement and bundle-adjustment update. DAPEVO also supports event-only observations, enabling continued tracking when RGB frames are sparse or unavailable, while modality-aware keyframe culling preserves scarce frame constraints. On UZH-FPV, when retaining only one in six RGB frames, DAPEVO's mean absolute trajectory error (ATE) increases by only 36%, from 1.00 to 1.36m, whereas the ATE of DPVO and RAMP-VO rises by factors of 3.7× and 3.1×, respectively. On TartanEvent, DAPEVO similarly remains below 1m ATE at 3Hz RGB input, while DPVO and RAMP-VO exceed 9m. Under degraded RGB input on TartanEvent, DAPEVO achieves an ATE of 0.60m, compared with more than 4m for both DPVO and RAMP-VO, while also outperforming event-only DEVO at 0.87m.