IROS2022 Presentation


  • Paper Title: Monocular Event Visual Inertial Odometry based on Event-corner using Sliding Windows Graph-based Optimization

  • This work proposed event inertial odometry (EIO). We do not rely on the use of image-based corner detection but design a asynchronously detected and uniformly distributed event-cornerdetector from events-only data. The event-corner features tracker are then integrated into a sliding windows graph-based optimization framework that tightly fuses the event-corner features with IMU measurement to estimate the 6-DoF ego-motion.

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