Hybrid, Frame and Event based Visual Inertial Odometry for Robust, Autonomous Navigation of Quadrotors


In this paper, we present the first state estimation pipeline that leverages the complementary advantages of a standard camera and an event camera by fusing, in a tightly-coupled manner events, standard frames, and inertial measurements. Furthermore, we use our pipeline to demonstrate - to the best of our knowledge - the first autonomous quadrotor flight using an event camera for state estimation, unlocking flight scenarios that were not reachable with traditional visual-inertial odometry, such as low-light environments and high-dynamic range scenes.

In arXiv