This paper investigates two typical image-type representations for event camera-based tracking: time surface (TS) and event map (EM). Based on the original TS-based tracker, we make use of these two representations' complementary strengths to develop an enhanced version. The proposed tracker consists of a general strategy to evaluate the optimization problem's degeneracy online and then switch proper representations. Both TS and EM are motion- and scene-dependent, and thus it is important to figure out their limitations in tracking. We develop six tracker variations and conduct a thorough comparison of them on sequences covering various scenarios and motion complexities. We release our implementations and detailed results to benefit the research community on event cameras: https: //github.com/gogojjh/ESVO_extension.
@article{arxiv.2104.09887,
title = {Comparing Representations in Tracking for Event Camera-based SLAM},
author = {Jianhao Jiao and Huaiyang Huang and Liang Li and Zhijian He and Yilong Zhu and Ming Liu},
journal= {arXiv preprint arXiv:2104.09887},
year = {2021}
}
Comments
9 pages, 7 figures, accepted by CVPR Workshop 2021