https://github.com/tub-rip/emba
Official implementation of ECCV 2024 paper: "Event-based Mosaicing Bundle Adjustment"
https://github.com/tub-rip/emba
Last synced: 8 months ago
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Official implementation of ECCV 2024 paper: "Event-based Mosaicing Bundle Adjustment"
- Host: GitHub
- URL: https://github.com/tub-rip/emba
- Owner: tub-rip
- License: mit
- Created: 2024-07-15T13:25:44.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-03-12T22:17:55.000Z (12 months ago)
- Last Synced: 2025-03-12T23:23:43.314Z (12 months ago)
- Language: C++
- Size: 5.94 MB
- Stars: 9
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- event-vision-index - EMBA: **E**vent-based **M**osaicing **B**undle **A**djustment (ECCV 2024) - rip/emba?style=social"/> (Visual Odometry and SLAM / Rotational motion (3-DOF))
README
# Event-based Mosaicing Bundle Adjustment
Official repository for [**Event-based Mosaicing Bundle Adjustment**](https://arxiv.org/abs/2409.07365), **ECCV 2024 paper**, by [Shuang Guo](https://shuang1997.github.io) and [Guillermo Gallego](http://www.guillermogallego.es).
[PDF](https://arxiv.org/pdf/2409.07365) | [Poster](docs/2024_ECCV_EMBA_poster.pdf) | [Video](https://youtu.be/69dvoqSKCYg) | [Dataset](https://github.com/tub-rip/ECRot)
[](https://youtu.be/69dvoqSKCYg)
## Citation
If you use this work in your research, please cite it as follows:
```bibtex
@InProceedings{Guo24eccv,
author = {Shuang Guo and Guillermo Gallego},
title = {Event-based Mosaicing Bundle Adjustment},
booktitle = {European Conference on Computer Vision (ECCV)},
pages = {479--496},
doi = {10.1007/978-3-031-72624-8_27},
year = 2024
}
```
-------
## Setup
### High-level Input-Output
**Input**:
- Events.
- Camera calibration.
- Initial trajectory from other front-end methods.
- (Optional) Initial panoramic gradient maps.
**Output**:
- Refined rotations of the event camera.
- Refined intensity panorama.
## Usage
- [Installation](docs/installation.md)
- [Execution](docs/execution.md)
- [Parameter Guide](docs/parameters.md)
## [Event Camera Rotation Dataset (ECRot)](https://github.com/tub-rip/ECRot)
We test EMBA on the newly-released ECRot dataset, see and download it at [here](https://github.com/tub-rip/ECRot). The instructions of running EMBA on the ECRot datasets can be found [here](docs/execution.md).
## Acknowledgements
This code leverages the following repository for computing the derivative of Lie Group B-splines:
- [Basalt Headers](https://gitlab.com/VladyslavUsenko/basalt-headers)
## Additional Resources
* [Research page (TU Berlin RIP lab)](https://sites.google.com/view/guillermogallego/research/event-based-vision)
* [Course at TU Berlin](https://sites.google.com/view/guillermogallego/teaching/event-based-robot-vision)
* [CMax-SLAM (TRO 2024)](https://github.com/tub-rip/cmax_slam)
* [EPBA: Event-based Photometric Bundle Adjustment](https://github.com/tub-rip/epba)
* [Secrets of Event-Based Optical Flow (TPAMI 2024)](https://github.com/tub-rip/event_based_optical_flow)
* [ES-PTAM: Event-based Stereo Parallel Tracking and Mapping](https://github.com/tub-rip/ES-PTAM)
* [Survey paper](http://rpg.ifi.uzh.ch/docs/EventVisionSurvey.pdf)
* [List of Resources](https://github.com/uzh-rpg/event-based_vision_resources)