Awesome
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.
It has been accepted as a Spotlight paper at the NeVi Workshop.
The PDF of the paper is available. 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
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
Coming soon ...
Results
The original ES-PTAM trajectories and GT poses for various sequences are available here.
They have been evaluted using this tool.
License
The license is available here.