An N-Point Linear Solver for Line and Motion Estimation with Event Cameras

arXiv:2404.00842v1 Announce Type: new
Abstract: Event cameras respond primarily to edges--formed by strong gradients--and are thus particularly well-suited for line-based motion estimation. Recent work has shown that events generated by a single line each satisfy a polynomial constraint which describes a manifold in the space-time volume. Multiple such constraints can be solved simultaneously to recover the partial linear velocity and line parameters. In this work, we show that, with a suitable line parametrization, this system of constraints is actually linear …

abstract arxiv cameras cs.cv event events generated line linear manifold multiple polynomial solver space type work