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EVI-SAM: Robust, Real-time, Tightly-coupled Event-Visual-Inertial State Estimation and 3D Dense Mapping
April 22, 2024, 4:45 a.m. | Weipeng Guan, Peiyu Chen, Huibin Zhao, Yu Wang, Peng Lu
cs.CV updates on arXiv.org arxiv.org
Abstract: Event cameras are bio-inspired, motion-activated sensors that demonstrate substantial potential in handling challenging situations, such as motion blur and high-dynamic range. In this paper, we proposed EVI-SAM to tackle the problem of 6 DoF pose tracking and 3D reconstruction using monocular event camera. A novel event-based hybrid tracking framework is designed to estimate the pose, leveraging the robustness of feature matching and the precision of direct alignment. Specifically, we develop an event-based 2D-2D alignment to …
arxiv cs.cv cs.ro event mapping real-time robust sam state type visual
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