Official repository for ES-PTAM: Event-based Stereo Parallel Tracking and Mapping, by Suman Ghosh, Valentina Cavinato and Guillermo Gallego, published at the European Conference on Computer Vision (ECCV) Workshops 2024 Milan, Italy, and demoed at ECCV 2024.
✨ It was presented as an Oral Spotlight at the NeVi Workshop.
✨ A live demo was also presented at ECCV 2024.
If you use this work in your research, please cite it as follows:
@InProceedings{Ghosh24eccvw,
author = {Suman Ghosh and Valentina Cavinato and Guillermo Gallego},
title = {{ES-PTAM}: Event-based Stereo Parallel Tracking and Mapping},
booktitle = {European Conference on Computer Vision (ECCV) Workshops},
year = {2024},
pages = {70--87},
doi = {10.1007/978-3-031-92460-6\_5}
}
- Events from two or more cameras
- Camera calibration (intrinsic, extrinsic) parameters
- Camera (i.e., sensor rig) poses
- Depth map
- Confidence map
- Point cloud
- Intermediate ray density maps / Disparity Space Images (DSI)
- Installation
- Running examples on different datasets
- Running live with DAVIS cameras
- Parameter tuning
The original ES-PTAM trajectories and GT poses for various sequences are available here.
They have been evaluted using this tool.
The license is available here.