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CMax-SLAM

Official repository for CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximization, IEEE T-RO 2024, by Shuang Guo and Guillermo Gallego.

Paper | PDF | Poster | Video | Dataset

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Citation

If you use this work in your research, please consider citing:

@Article{Guo24tro,
  author        = {Shuang Guo and Guillermo Gallego},
  title         = {{CMax}-{SLAM}: Event-based Rotational-Motion Bundle Adjustment
                  and {SLAM} System using Contrast Maximization},
  journal       = {{IEEE} Transactions on Robotics},
  year          = 2024,
  volume        = {40},
  number        = {},
  pages         = {2442--2461},
  doi           = {10.1109/TRO.2024.3378443}
}

@InProceedings{Gallego18cvpr,
  author        = {Guillermo Gallego and Henri Rebecq and Davide Scaramuzza},
  title         = {A Unifying Contrast Maximization Framework for Event Cameras,
                  with Applications to Motion, Depth, and Optical Flow
                  Estimation},
  booktitle     = {{IEEE} Conf. Comput. Vis. Pattern Recog. (CVPR)},
  year          = 2018,
  pages         = {3867--3876},
  doi           = {10.1109/CVPR.2018.00407}
}

Setup

High-level Input-Output

Input:

Events.
Camera calibration.

Output:

Rotational motion of the event camera.
Local (front-end) and global (back-end) image of warped events (IWEs).

Usage

Event Camera Rotation Dataset (ECRot)

We also release the dataset that we made, see and download it from here. The instructions of running CMax-SLAM on the ECRot datasets can be found here.

Acknowledgements

This code leverages the following repository for computing the derivative of Lie Group B-splines:

Basalt Headers