Asynchronous Visual-Inertial Odometry for Event Cameras

Abstract. Event cameras are bio-inspired visual sensors that output changes in pixel-level brightness asynchronously instead of standard intensity frames at a fixed rate. These cameras offer reliable visual information in high-speed motion and high dynamic range (HDR) scenes, addressing the limitations of traditional cameras in such scenarios. Therefore, research of integrating event cameras into established visual algorithms holds significant value. In this study, based on traditional Visual-Inertial Odometry (VIO) frameworks, we proposed an innovative asynchronous monocular event-based inertial odometry method to fully exploit the benefits of event cameras. First, the corner features are extracted separately from the raw event stream and the time surface map, followed by uniform feature selection to accurately describe three-dimensional spatial geometry. Then, feature tracking is achieved by integrating these two event representation methods. In addition, our method obtains stable and high frequency state estimation by fusing event and IMU measurements through graph optimization. We validate the effectiveness of our proposed approach, comparing with several state-of-the-art EVIO systems and VIO systems.