# Asynchronous Tracking, Optical Communication and 3D Motion Capture using Event-based Sensors

arXiv: https://arxiv.org/abs/2610.04342 · HTML: https://mlsanity.com/paper/2610.04342/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 52 references that are in the map.
- First posted on arXiv 3 Oct 2026.

## Builds on (most cited first, 15 of 15)

- [Continuous-time Intensity Estimation Using Event Cameras](https://mlsanity.com/paper/1811.00386/) (2018)
- [An Asynchronous Kalman Filter for Hybrid Event Cameras](https://mlsanity.com/paper/2012.05590/) (2020)
- [Event Camera Calibration of Per-pixel Biased Contrast Threshold](https://mlsanity.com/paper/2012.09378/) (2020)
- [Stereo Hybrid Event-Frame (SHEF) Cameras for 3D Perception](https://mlsanity.com/paper/2110.04988/) (2021)
- [Asynchronous Blob Tracker for Event Cameras](https://mlsanity.com/paper/2307.10593/) (2023)
- [A Linear Comb Filter for Event Flicker Removal](https://mlsanity.com/paper/2205.08090/) (2022)
- [Real-time 6-DoF Pose Estimation by an Event-based Camera using Active LED Markers](https://mlsanity.com/paper/2310.16618/) (2023)
- [Smart Visual Beacons with Asynchronous Optical Communications using Event Cameras](https://mlsanity.com/paper/2208.01710/) (2022)
- [Towards High-Speed Passive Visible Light Communication with Event Cameras and Digital Micro-Mirrors](https://mlsanity.com/paper/2410.14228/) (2024)
- [Motion-Aware Optical Camera Communication with Event Cameras](https://mlsanity.com/paper/2412.00816/) (2024)
- [A Monocular Event-Camera Motion Capture System](https://mlsanity.com/paper/2502.12113/) (2025)
- [Dynamic Event-based Optical Identification and Communication](https://mlsanity.com/paper/2303.07169/) (2023)
- [Asynchronous Multi-Object Tracking with an Event Camera](https://mlsanity.com/paper/2505.08126/) (2025)
- [Evaluation of Mobile Environment for Vehicular Visible Light Communication Using Multiple LEDs and Event Cameras](https://mlsanity.com/paper/2505.15412/) (2025)
- [Real-world Latency Analysis of Vehicular Visible Light Communication with Multiple LED Transmitters and an Event-Based Camera](https://mlsanity.com/paper/2605.05541/) (2026)

## Abstract (arXiv)

Inter-robot communication is a key enabling technology in cooperative robotics applications. While wireless communication is ubiquitous, simple, and effective, it has inherent limitations: the receiving robot cannot easily localise the source of an incoming signal, clock synchronisation is challenging, and signals are broadcast to all nearby devices rather than targeted recipients. Optical communication provides a complementary channel that is inherently directional and spatially localised, directly addressing these limitations. Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with high temporal resolution, high dynamic range, and low latency, making them well-suited as receivers for high-rate optical communication in cooperative robotic systems. In this paper, we propose the Asynchronous Tracking and Optical Communication (ATOC) system, which integrates LED smart-beacon modulation, event-based detection, optical tracking, and event-data demodulation in a single pipeline. By simultaneously tracking and demodulating multiple LED smart beacons, ATOC transforms a conventional visual marker into a robust communication channel suitable for a wide range of high-impact robotics applications. We validate ATOC in a suite of laboratory studies and two 'applications': a smart-city demonstration and a 3D motion-capture system.