Live Demonstration: Real-Time Vi-SLAM with High-Resolution Event Camera

Gongyu Yang, Qilin Ye, Wanjun He, Lifeng Zhou, Xinyu Chen, Lei Yu, Wen Yang, Shoushun Chen, Wei Li

CVPRW 2019 pp. 1707-1708

doi:10.1109/CVPRW.2019.00219 /cvprw/2019/yang2019cvprw-live/

Abstract

Event camera is bio-inspired vision sensors that output pixel-level brightness changes asynchronously. Compared to the conventional frame-based camera, it is with high dynamic range, low latency and high sensitivity, and thus can be exploited in SLAM to tackle the problem of occasions with high-speed camera moving and low-light scenes. In this demo, we implement the visual-inerial SLAM in real time with the recently released event camera, namely, CeleX-V. With the feature of high spatial resolution (1280x800) and low latency <0.5us, the proposed method can provide frames with abundant textures and high time response, which leads to more stable tracking ability and better performance in SLAM system.

CVPRW Semantic Scholar

Cite

Text

Yang et al. "Live Demonstration: Real-Time Vi-SLAM with High-Resolution Event Camera." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2019. doi:10.1109/CVPRW.2019.00219

Markdown

[Yang et al. "Live Demonstration: Real-Time Vi-SLAM with High-Resolution Event Camera." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2019.](https://mlanthology.org/cvprw/2019/yang2019cvprw-live/) doi:10.1109/CVPRW.2019.00219

BibTeX

@inproceedings{yang2019cvprw-live,
  title     = {{Live Demonstration: Real-Time Vi-SLAM with High-Resolution Event Camera}},
  author    = {Yang, Gongyu and Ye, Qilin and He, Wanjun and Zhou, Lifeng and Chen, Xinyu and Yu, Lei and Yang, Wen and Chen, Shoushun and Li, Wei},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops},
  year      = {2019},
  pages     = {1707-1708},
  doi       = {10.1109/CVPRW.2019.00219},
  url       = {https://mlanthology.org/cvprw/2019/yang2019cvprw-live/}
}