Core Concepts
Event cameras offer potential advantages for rotational motion estimation, leading to the development of CMax-SLAM system.
Abstract
Event cameras capture pixel-wise intensity changes asynchronously.
CMax-SLAM system integrates event-based rotation-only bundle adjustment for SLAM.
Synthetic and real-world datasets are used for comprehensive experiments.
Proposed method aims to refine continuous-time trajectories efficiently.
Source code and data sequences are released for community benefit.
Stats
この論文は、2024年にIEEE Transactions on Roboticsで出版される予定です。
Several event-based rotation estimation methods have been developed in the past decade, but their performance has not been evaluated and compared under unified criteria yet.
Our BA is able to run both offline (trajectory smoothing) and online (CMax-SLAM back-end).
We release the source code and novel data sequences to benefit the community.