Comparing Representations in Tracking for Event Camera-Based SLAM

Jianhao Jiao, Huaiyang Huang, Liang Li, Zhijian He, Yilong Zhu, Ming Liu

CVPRW 2021 pp. 1369-1376

doi:10.1109/CVPRW53098.2021.00151 /cvprw/2021/jiao2021cvprw-comparing/

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 pro-posed 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.

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Cite

Text

Jiao et al. "Comparing Representations in Tracking for Event Camera-Based SLAM." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2021. doi:10.1109/CVPRW53098.2021.00151

Markdown

[Jiao et al. "Comparing Representations in Tracking for Event Camera-Based SLAM." IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2021.](https://mlanthology.org/cvprw/2021/jiao2021cvprw-comparing/) doi:10.1109/CVPRW53098.2021.00151

BibTeX

@inproceedings{jiao2021cvprw-comparing,
  title     = {{Comparing Representations in Tracking for Event Camera-Based SLAM}},
  author    = {Jiao, Jianhao and Huang, Huaiyang and Li, Liang and He, Zhijian and Zhu, Yilong and Liu, Ming},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops},
  year      = {2021},
  pages     = {1369-1376},
  doi       = {10.1109/CVPRW53098.2021.00151},
  url       = {https://mlanthology.org/cvprw/2021/jiao2021cvprw-comparing/}
}