EVO: A Geometric Approach to Event-based 6-DOF Parallel Tracking and Mapping in Real-time


In this paper, we introduce the problem of Event-based Multi-View Stereo (EMVS) for event cameras and propose a solution to it. Unlike traditional MVS methods, which address the problem of estimating dense 3D structure from a set of known viewpoints, EMVS estimates semi-dense 3D structure from an event camera with known trajectory. Our algorithm is able to produce accurate, semi-dense depth maps and is computationally very efficient (runs in real-time on a CPU or even a smartphone processor).

In Robotics and Automation Letters (RA-L), IEEE.