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ES-PTAM: Event-based Stereo Parallel Tracking and Mapping

Official repository for ES-PTAM: Event-based Stereo Parallel Tracking and Mapping, by Suman Ghosh, Valentina Cavinato and Guillermo Gallego, published at the European Conference on Computer Vision (ECCV) Workshops 2024 Milan, Italy.

Paper | Video | Poster

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:sparkles: It was presented as an Oral Spotlight at the NeVi Workshop.
:sparkles: A live demo was also presented at ECCV 2024.

If you use this work in your research, please cite it as follows:

@InProceedings{Ghosh24eccvw,
  author = {Suman Ghosh and Valentina Cavinato and Guillermo Gallego},  
  title = {{ES-PTAM}: Event-based Stereo Parallel Tracking and Mapping},
  booktitle = {European Conference on Computer Vision (ECCV) Workshops},
  year = {2024}
}

Data Processing Pipeline

pipeline

Input

Events from two or more cameras
Camera calibration (intrinsic, extrinsic) parameters

Output

Camera (i.e., sensor rig) poses
Depth map
Confidence map
Point cloud
Intermediate ray density maps / Disparity Space Images (DSI)

Code

Results

The original ES-PTAM trajectories and GT poses for various sequences are available here.