EVI-SAM: Robust, Real-time, Tightly-coupled Event-Visual-Inertial State Estimation and 3D Dense Mapping

arXiv:2312.11911v2 Announce Type: replace
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