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ES-PTAM: Event-based Stereo Parallel Tracking and Mapping

Official repository for ES-PTAM: Event-based Stereo Parallel Tracking and Mapping, by Suman Ghosh, Valentina Cavinato and Guillermo Gallego, published at the European Conference on Computer Vision (ECCV) Workshops 2024 Milan, Italy.

ES-PTAM: Event-based Stereo Parallel Tracking and Mapping

✨ It was presented as an Oral Spotlight at the NeVi Workshop.
✨ A live demo was also presented at ECCV 2024.

If you use this work in your research, please cite it as follows:

@InProceedings{Ghosh24eccvw,
  author = {Suman Ghosh and Valentina Cavinato and Guillermo Gallego},  
  title = {{ES-PTAM}: Event-based Stereo Parallel Tracking and Mapping},
  booktitle = {European Conference on Computer Vision (ECCV) Workshops},
  year = {2024}
}

Data Processing Pipeline

pipeline

Input

  • Events from two or more cameras
  • Camera calibration (intrinsic, extrinsic) parameters

Output

  • Camera (i.e., sensor rig) poses
  • Depth map
  • Confidence map
  • Point cloud
  • Intermediate ray density maps / Disparity Space Images (DSI)

Code

Results

The original ES-PTAM trajectories and GT poses for various sequences are available here.

They have been evaluted using this tool.

License

The license is available here.

Related works

Additional Resources on Event-based Vision