Wang, Yifu, Jiaqi Yang, Xin Peng, Peng Wu, Ling Gao, Kun Huang, Jiaben Chen, and Laurent Kneip. "Visual odometry with an event camera using continuous ray warping and volumetric contrast maximization." arXiv preprint arXiv:2107.03011 (2021).
We introduce a new solution to tracking and mapping with an event camera by performing contrast maximization in 3D. The 3D location of the rays cast for each event is smoothly varied as a function of a continuous-time motion parametrization, and the optimal parameters are found by maximizing the contrast in a volumetric ray density field.
Link to our lab's webpage:
http://mpl.sist.shanghaitech.edu.cn
