IROS2023 Presentation

Paper Title: ESVIO：Event-based Stereo Visual Inertial Odometry

This work proposed the first stereo event-based visual inertial odometry framework, including ESIO (purely event-based) and ESVIO (event with image-aided). The stereo event-corner features are temporally and spatially associated through an event-based representation with spatio-temporal and exponential decay kernel. The stereo event tracker are then tightly coupled into a sliding windows graph-based optimization framework for the estimation of ego-motion.