DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions
Yi–Fan Zuo,Jiaqi Yang,Jiaben Chen,Xia Wang,Yifu Wang,Laurent Kneip,Yi–Fan Zuo,Jiaqi Yang,Jiaben Chen,Xia Wang,Yifu Wang,Laurent Kneip
We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging scenarios. We extend conventional edge-based semi-dense visual odometry towards time-surface maps obtained from event streams. Semi-dense depth maps are genera...
