Comparing Representations in Tracking for Event Camera-Based SLAM

Jianhao Jiao, Huaiyang Huang, Liang Li, Zhijian He, Yilong Zhu, Ming Liu; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2021, pp. 1369-1376

Abstract

This paper investigates two typical image-type representations for event camera-based tracking: time surface (TS) and event map (EM). Based on the original TS-based tracker, we make use of these two representations' complementary strengths to develop an enhanced version. The proposed tracker consists of a general strategy to evaluate the optimization problem's degeneracy online and then switch proper representations. Both TS and EM are motion- and scene-dependent, and thus it is important to figure out their limitations in tracking. We develop six tracker variations and conduct a thorough comparison of them on sequences covering various scenarios and motion complexities. We release our implementations and detailed results to benefit the research community on event cameras: https: //github.com/gogojjh/ESVO_extension.

Related Material

[pdf] [arXiv]
[bibtex]
@InProceedings{Jiao_2021_CVPR, author = {Jiao, Jianhao and Huang, Huaiyang and Li, Liang and He, Zhijian and Zhu, Yilong and Liu, Ming}, title = {Comparing Representations in Tracking for Event Camera-Based SLAM}, booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops}, month = {June}, year = {2021}, pages = {1369-1376} }