{"id":29115752,"url":"https://github.com/tub-rip/cmax_slam","last_synced_at":"2025-06-29T11:13:31.804Z","repository":{"id":227696647,"uuid":"772169079","full_name":"tub-rip/cmax_slam","owner":"tub-rip","description":"Official implementation of IEEE T-RO 2024 paper: \"CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast 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Odometry and SLAM"],"sub_categories":["Rotational motion (3-DOF)"],"readme":"# CMax-SLAM\n\nOfficial repository for [**CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximization**](https://arxiv.org/pdf/2403.08119), **IEEE T-RO 2024**, by [Shuang Guo](https://shuang1997.github.io/) and [Guillermo Gallego](http://www.guillermogallego.es).\n\u003ch2 align=\"left\"\u003e\n\n[Paper](https://doi.org/10.1109/TRO.2024.3378443) | [PDF](https://arxiv.org/pdf/2403.08119) | [Poster](https://drive.google.com/file/d/1Y1xkWi1Xxfr7SlKqGOsKtRBfPG9cMthk/view?usp=sharing) | [Video](https://youtu.be/17VWTuSkgPs) | [Dataset](https://github.com/tub-rip/ECRot)\n\u003c/h2\u003e\n\n[![CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximization](docs/img/video_cover.jpg)](https://youtu.be/17VWTuSkgPs)\n\n\n## Citation\n\nIf you use this work in your research, please consider citing:\n\n```bibtex\n@Article{Guo24tro,\n  author        = {Shuang Guo and Guillermo Gallego},\n  title         = {{CMax}-{SLAM}: Event-based Rotational-Motion Bundle Adjustment\n                  and {SLAM} System using Contrast Maximization},\n  journal       = {{IEEE} Transactions on Robotics},\n  year          = 2024,\n  volume        = {40},\n  number        = {},\n  pages         = {2442--2461},\n  doi           = {10.1109/TRO.2024.3378443}\n}\n\n@InProceedings{Gallego18cvpr,\n  author        = {Guillermo Gallego and Henri Rebecq and Davide Scaramuzza},\n  title         = {A Unifying Contrast Maximization Framework for Event Cameras,\n                  with Applications to Motion, Depth, and Optical Flow\n                  Estimation},\n  booktitle     = {{IEEE} Conf. Comput. Vis. Pattern Recog. (CVPR)},\n  year          = 2018,\n  pages         = {3867--3876},\n  doi           = {10.1109/CVPR.2018.00407}\n}\n```\n\n-------\n## Setup\n\n### High-level Input-Output\n\n\n**Input**:\n- Events.\n- Camera calibration.\n\n**Output**:\n- Rotational motion of the event camera.\n- Local (front-end) and global (back-end) image of warped events (IWEs).\n\n## Usage\n- [Installation](docs/installation.md)\n- [Test on Datasets](docs/test_datasets.md)\n- [Live demo with a DAVIS camera](docs/live_demo.md)\n- [Parameter Guide](docs/patermeters.md)\n\n## [Event Camera Rotation Dataset (ECRot)](https://github.com/tub-rip/ECRot)\n\nWe also release the dataset that we made, see and download it from [here](https://github.com/tub-rip/ECRot). \nThe instructions of running CMax-SLAM on the ECRot datasets can be found [here](https://github.com/tub-rip/cmax_slam/blob/main/docs/test_datasets.md).\n\n## Acknowledgements\n\nThis code leverages the following repository for computing the derivative of Lie Group B-splines:\n- [Basalt Headers](https://gitlab.com/VladyslavUsenko/basalt-headers)\n\n## Additional Resources\n\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* [EPBA: Event-based Photometric Bundle Adjustment](https://github.com/tub-rip/epba)\n* [EMBA: Event-based Mosaicing Bundle Adjustment (ECCV 2024)](https://github.com/tub-rip/emba)\n* [Secrets of Event-Based Optical Flow (TPAMI 2024)](https://github.com/tub-rip/event_based_optical_flow)\n* [ES-PTAM: Event-based Stereo Parallel Tracking and Mapping](https://github.com/tub-rip/ES-PTAM)\n* [Survey paper](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%2Fcmax_slam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftub-rip%2Fcmax_slam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftub-rip%2Fcmax_slam/lists"}