Real-Time 3D Reconstruction and 6-DoF Tracking with an Event Camera

  title={Real-Time 3D Reconstruction and 6-DoF Tracking with an Event Camera},
  author={Hanme Kim and Stefan Leutenegger and Andrew J. Davison},
We propose a method which can perform real-time 3D reconstruction from a single hand-held event camera with no additional sensing, and works in unstructured scenes of which it has no prior knowledge. It is based on three decoupled probabilistic filters, each estimating 6-DoF camera motion, scene logarithmic (log) intensity gradient and scene inverse depth relative to a keyframe, and we build a real-time graph of these to track and model over an extended local workspace. We also upgrade the… CONTINUE READING
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