Research map / 3D vision / Depth and stereo
Event-Aided Direct Sparse Odometry
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Tightly fuse events and frames using the event generation model, with photometric bundle adjustment | EDS · standard event-based sequences | ATE and rotation RMSE | Helped |
| Track motion with events between frames | EDS versus frame-based methods · low frame rates | ATE | Helped |
| Increase depth noise in the map | EDS tracker · synthetic atrium sequence | pose error | Hurt |
| Increase event contrast-sensitivity noise | EDS tracker · synthetic sequences | tracking success | Hurt |
| Use reconstructed grayscale frames from events instead of camera frames | EDS · bin and boxes | tracking performance | Hurt |
| Use event tracking rather than relying on frame tracking alone | EDS · desk sequence at low frame rates | ATE | Helped |
| Use the EDS event-and-frame method instead of DSO | EDS · kitchen | ATE (RMS) [cm]: 12.5±6.8 -> 9.6±5.5 | Helped |
| Use the EDS event-and-frame method instead of DSO | EDS · snoopy | ATE (RMS) [cm]: 30.7±14 -> 30.9±13 | Hurt |
Closest papers by meaning
- LEAP-VO: Long-term Effective Any Point Tracking for Visual Odometry (CVPR 2024 · similarity 0.87)
- ETAP: Event-based Tracking of Any Point (CVPR 2025 · similarity 0.85)
- IncEventGS: Pose-Free Gaussian Splatting from a Single Event Camera (CVPR 2025 · similarity 0.84)
- Event-based Structure-from-Orbit (CVPR 2024 · similarity 0.83)
- EAG3R: Event-Augmented 3D Geometry Estimation for Dynamic and Extreme-Lighting Scenes (NeurIPS 2025 · similarity 0.83)
- Event-Driven Dynamic Scene Depth Completion (NeurIPS 2025 · similarity 0.82)
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