A Tightly-Coupled Event-Inertial Odometry using Exponential Decay and Linear Preintegrated Measurements
Benny Dai,Cedric Le Gentil,Teresa Vidal-Calleja,Benny Dai,Cedric Le Gentil,Teresa Vidal-Calleja
In this paper, we introduce an event-based visual odometry and mapping framework that relies on decaying event-based corners. Event cameras, unlike conventional cam-eras, can provide sensor data during high-speed motions or in scenes with high dynamic ranges. Rather than providing intensity information at a global shutter rate, events are trig-gered asynchronously depending on whether there is a c...
