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Odometry and SLAM"],"sub_categories":["Arbitrary motion (6-DOF)"],"readme":"# ES-PTAM: Event-based Stereo Parallel Tracking and Mapping\n\nOfficial repository for [**ES-PTAM: Event-based Stereo Parallel Tracking and Mapping**](http://doi.org/10.1007/978-3-031-92460-6_5), by [Suman Ghosh](https://www.linkedin.com/in/suman-ghosh-a8762576/), [Valentina Cavinato](https://ch.linkedin.com/in/valentina-cavinato) and [Guillermo Gallego](http://www.guillermogallego.es), published at the **European Conference on Computer Vision (ECCV) Workshops 2024** Milan, Italy, and **demoed at ECCV 2024**.\n\u003ch2 align=\"left\"\u003e\n  \n[Paper](https://arxiv.org/pdf/2408.15605) | [Video](https://youtu.be/z7J3lZOYwKs) | [Poster](/docs/esptam_eccvw_2024_poster_v3.pdf)\n\u003c/h2\u003e\n\n[![ES-PTAM: Event-based Stereo Parallel Tracking and Mapping](docs/es_ptam_thumbnail.jpg)](https://youtu.be/z7J3lZOYwKs)\n\n:sparkles: It was presented as an **Oral Spotlight** at the [NeVi](https://sites.google.com/view/nevi2024/home-page) Workshop.\\\n:sparkles: A [live demo](https://x.com/MarcoCristani/status/1841388758299443596/photo/1) was also presented at **ECCV 2024**.\n\nIf you use this work in your research, please cite it as follows:\n\n```bibtex\n@InProceedings{Ghosh24eccvw,\n  author = {Suman Ghosh and Valentina Cavinato and Guillermo Gallego},  \n  title = {{ES-PTAM}: Event-based Stereo Parallel Tracking and Mapping},\n  booktitle = {European Conference on Computer Vision (ECCV) Workshops},\n  year = {2024},\n  pages = {70--87},\n  doi = {10.1007/978-3-031-92460-6\\_5}\n}\n```\n\n## Data Processing Pipeline\n\n![pipeline](docs/pipeline_esptam.png)\n\n### Input\n* Events from two or more cameras\n* Camera calibration (intrinsic, extrinsic) parameters\n\n### Output\n* Camera (i.e., sensor rig) poses\n* Depth map\n* Confidence map\n* Point cloud\n* Intermediate ray density maps / Disparity Space Images (DSI)\n\n## Code\n* [Installation](docs/installation.md)\n* [Running examples on different datasets](docs/examples.md)\n* [Running live with DAVIS cameras](docs/live_demo.md)\n* [Parameter tuning](docs/parameters.md)\n\n## Results\nThe original ES-PTAM trajectories and GT poses for various sequences are available [here](trajectory_eval).\n\nThey have been evaluted using [this tool](https://github.com/uzh-rpg/rpg_trajectory_evaluation/tree/master).\n\n## License\n\nThe license is available [here](Software%20License%20Agreement_TUB_ES_PTAM_final.pdf).\n\nRelated works\n-------\n* **[Event-based Stereo Depth Estimation: A Survey](https://arxiv.org/pdf/2409.17680)**\n* **[MC-EMVS: Multi-Event-Camera Depth Estimation and Outlier Rejection by Refocused Events Fusion (AISY 2022)](https://github.com/tub-rip/dvs_mcemvs)**\n* [EVO: Event based Visual Odometry (RAL 2017)](https://github.com/uzh-rpg/rpg_dvs_evo_open/)\n* [ESVO2: Direct Visual-Inertial Odometry with Stereo Event Cameras (TRO 2025)](https://github.com/NAIL-HNU/ESVO2)\n   \nAdditional Resources on Event-based Vision\n-------\n\n* [Event Collapse in Contrast Maximization Frameworks](https://github.com/tub-rip/event_collapse)\n* [Motion-prior Contrast Maximization (ECCV 2024)](https://github.com/tub-rip/MotionPriorCMax)\n* [CMax-SLAM (TRO 2024)](https://github.com/tub-rip/cmax_slam)\n* [Research page (TU Berlin, RIP lab)](https://sites.google.com/view/guillermogallego/research/event-based-vision)\n* [Course at TU Berlin](https://sites.google.com/view/guillermogallego/teaching/event-based-robot-vision)\n* [Event-based Vision: A Survey](http://rpg.ifi.uzh.ch/docs/EventVisionSurvey.pdf)\n* [List of Resources](https://github.com/uzh-rpg/event-based_vision_resources)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftub-rip%2FES-PTAM","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftub-rip%2FES-PTAM","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftub-rip%2FES-PTAM/lists"}