Event-based SLAM: A Comprehensive Survey

More content and details can be found in our Survey Paper: Event-based Simultaneous Localization and Mapping: A Comprehensive Survey

Contents

1. Taxonomy
2. Methods
3. Datasets
4. Citation
5. Contact

Taxonomy

Methods

Year	Publication	Title	Method	Type	Event Representation	Task	Code
2011	IJCNN	Interacting maps for fast visual interpretation	Optimization	-	Event frame	Ego-motion estimation	-
2012	ROBIO	Event-based particle filtering for robot self-localization	Filter	Feature	-	Ego-motion estimation	-
2013	ICVS	Simultaneous localization and mapping for event-based vision systems	Filter	Feature	-	Mapping	-
2014	BMVC	Simultaneous mosaicing and tracking with an event camera	Filter	Direct	-	Ego-motion estimation	-
2014	ICRA	Low-latency event-based visual odometry	Filter	Direct	Event packet	Ego-motion estimation	-
2014	ICRA	Event-based 3D SLAM with a depth-augmented dynamic vision sensor	Filter	Feature	-	Visual odometry	-
2014	IROS	Event-based, 6-DOF pose tracking for high-speed maneuvers	Optimization	Feature	Event packet	Ego-motion estimation	-
2015	ArXiv	Event-based camera pose tracking using a generative event model	Filter	Direct	-	Ego-motion estimation	-
2015	RSS	Continuous-time trajectory estimation for event-based vision sensors	Optimization	Feature	Event packet	Ego-motion estimation	-
2016	ECCV	Real-time 3D reconstruction and 6-DoF tracking with an event camera	Filter	Direct	-	Visual odometry	-
2016	ICRA	Fast localization and tracking using event sensors	Optimization	Feature	Event frame	Ego-motion estimation	-
2016	IROS	Low-latency visual odometry using event-based feature tracks	Optimization	Feature	Local point set	Visual odometry	-
2016	RA-L	EVO: a geometric approach to event-based 6-DOF parallel tracking and mapping in real time	Optimization	Direct	Edge Map	Visual odometry	Code
2017	BMVC	Real-time visual-inertial odometry for event cameras using keyframe-based nonlinear optimization	Optimization	Feature	Motion-compensated event frame	Visual inertial odometry	-
2017	CVPR	Event-based visual inertial odometry	Filter	Feature	Motion-compensated event packet	Visual inertial odometry	Code
2017	ICCP	Real-time panoramic tracking for event cameras	Optimization	Feature	Event packet	Visual odometry	-
2017	RA-L	Accurate angular velocity estimation with an event camera	Optimization	Motion-compensation	Motion-compensated event frame	Ego-motion estimation	-
2017	R-AL	Ultimate SLAM? combining events, images, and IMU for robust visual SLAM in HDR and high-speed scenarios	Optimization	Feature	Motion-compensated event frame	Visual inertial odometry	Code
2017	TPAMI	Event-based, 6-DOF camera tracking from photometric depth maps	Filter	Direct	-	Ego-motion estimation	-
2018	CVPR	A unifying contrast maximization framework for event cameras, with applications to motion, depth, and optical flow estimation	Optimization	Motion-compensation	Motion-compensated event frame	Ego-motion estimation	-
2018	T-RO	Continuous-time visual-inertial odometry for event cameras	Optimization	Feature	Event packet	Visual inertial odometry	-
2019	CVPR	Unsupervised event-based learning of optical flow, depth, and egomotion	Optimization	Deep learning	Voxel grid	Visual odometry	-
2019	ICRA	Event-based, direct camera tracking from a photometric 3D map using nonlinear optimization	Optimization	Direct	Brightness incremental image	Ego-motion estimation	-
2019	ROBIO	Neuromorphic Visual Odometry System For Intelligent Vehicle Application With Bio-inspired Vision Sensor	Optimization	Feature	Motion-compensated event frame	Visual odometry	-
2020	BMVC	High-speed event-based camera tracking	Filter	Feature	-	Ego-motion estimation	-
2020	CVPR	Globally Optimal Contrast Maximisation for Event-Based Motion Estimation	Optimization	Motion-compensation	Motion-compensated event frame	Ego-motion estimation	-
2020	EBCCSP	Embedded Event-based Visual Odometry	Optimization	Feature	Event packet	Ego-motion estimation	-
2020	ECCV	Entropy Minimisation Framework for Event-Based Vision Model Estimation	Optimization	Motion-compensation	Motion-compensated event packet	Ego-motion estimation	Code
2020	ECCV	Globally-Optimal Event Camera Motion Estimation	Optimization	Motion-compensation	Motion-compensated event frame	Ego-motion estimation	-
2020	ICRA	Event-Based Angular Velocity Regression with Spiking Networks	Optimization	Deep learning	-	Ego-motion estimation	Code
2020	IROS	Unsupervised learning of dense optical flow, depth and egomotion with event-based sensors	Optimization	Deep learning	Event frame and time surface	Visual odometry	-
2020	IROS	IDOL: A Framework for IMU-DVS Odometry using Lines	Optimization	Feature	Event packet	Visual odometry	-
2020	TCI	Robust Motion Compensation for Event Cameras With Smooth Constraint	Optimization	Motion-compensation	Motion-compensated event frame	Ego-motion estimation	-
2021	CVPR	Spatiotemporal Registration for Event-based Visual Odometry	Optimization	Feature	Event packet	Ego-motion estimation	-
2021	ECMR	Feature-based Event Stereo Visual Odometry	Optimization	Feature	Time surface	Stereo visual odometry	-
2021	ICCV	The Spatio-Temporal Poisson Point Process: A Simple Model for the Alignment of Event Camera Data	Optimization	Motion-compensation	Motion-compensated event frame	Ego-motion estimation	Code
2021	R-AL	Real-Time Rotational Motion Estimation With Contrast Maximization Over Globally Aligned Events	Optimization	Motion-compensation	Motion-compensated event frame	Ego-motion estimation	-
2021	Sensors	Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization	Optimization	Motion-compensation	Event packet	Visual odometry	-
2021	T-RO	Event-Based Stereo Visual Odometry	Optimization	Direct	Time surface	Stereo visual odometry	Code
2022	ArXiv	PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features	Optimization	Feature	Motion-compensated time surface	Visual inertial odometry	-
2022	CVPR	Event-aided Direct Sparse Odometry	Optimization	Direct	Brightness incremental image	Visual odometry	Code
2022	ICRA	DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions	Optimization	Direct	Time surface	Visual odometry	-
2022	ICRA	Asynchronous Optimisation for Event-based Visual Odometry	Optimization	Feature	-	Visual odometry	-
2022	IROS	Monocular Event Visual Inertial Odometry based on Event-corner using Sliding Windows Graph-based Optimization	Optimization	Feature	Time surface	Visual inertial odometry	-
2022	IROS	A Tightly-Coupled Event-Inertial Odometry using Exponential Decay and Linear Preintegrated Measurements	Filter	Feature	Time surface	Visual inertial odometry	-
2022	R-AL	Event-Based Line SLAM in Real-Time	Filter	Feature	-	Visual odometry	-
2022	R-AL	Exploring Event Camera-Based Odometry for Planetary Robots	Filter	Feature	Brightness incremental image	Visual inertial odometry	Code
2022	TPAMI	Globally-Optimal Contrast Maximisation for Event Cameras	Optimization	Motion-compensation	Motion-compensated event frame	Ego-motion estimation	-
2022	TPAMI	Robust Event-Based Vision Model Estimation by Dispersion Minimisation	Optimization	Motion-compensation	Motion-compensated event packet	Ego-motion estimation	Code
2023	Sensors	ESVIO: Event-Based Stereo Visual-Inertial Odometry	Optimization	Direct	Time surface	Stereo visual inertial odometry	-

Datasets

Name	Publication	Motion	Devices	Resolution	Sensor	Dataset
ECDS	IJRR	rotation, translation, 6DoF	Hand-held	240*180	Event, IMU	Dataset
rpg	ECCV	6DoF	Hand-held	240*180	Stereo Event	Dataset
MVSEC	RA-L	6DoF	Hexacoptor, Car, Hand-held, Motorcycle	346*240	Stereo Event, Stereo Frame, IMU, Lidar, GPS	Dataset
UZH-FPV	ICRA	6DoF	Drone	640*480	Event, Frame, IMU	Dataset
DSEC	RA-L	6DoF	Car	640*480	Stereo Event, Stereo Frame, Lidar, GPS	Dataset
TUM-VIE	IROS	6DoF	Hand-held	1280*720	Stereo Event, Stereo Frame, IMU	Dataset
EDS	CVPR	6DoF	Hand-held	640*480	Event, Frame, IMU	Dataset
VECtor	RA-L	6DoF	Hand-held	640*480	Stereo Event, Stereo Frame, RGB-D, IMU, Lidar	Dataset
M2DGR	ICRA	6DoF	Ground Robot	640*480	Event, Frame, IMU, Lidar, GPS, Thermal	Dataset
vicon	IROS	6DoF	Quadrotor	346*240, 640*480	Event, IMU	Dataset
ViViD++	RA-L	6DoF	Hand-held, Car	240*180, 640*480	Event, Frame, RGB-D, Thermal, Lidar, GPS	Dataset
VISTA 2.0	ICRA	6DoF	Synthetic	-	Event, RGD, Lidar	Dataset
FusionPortable	IROS	6DoF	Hand-held, Quadruped Robot	346*240	Stereo Event, Stereo Frame, IMU, Lidar, GPS	Dataset

License

The survey and benchmark are only made available for academic research purpose.

Citation

@article{huang2023eventbased,
  Author = {Kunping Huang and Sen Zhang and Jing Zhang and Dacheng Tao},
  Title = {Event-based Simultaneous Localization and Mapping: A Comprehensive Survey},
  Year = {2023},
  Journal = {arXiv:2304.09793}
}

Contact

[email protected]