https://github.com/tub-rip/epba
Project page of the paper: "Event-based Mosaicing Bundle Adjustment"
https://github.com/tub-rip/epba
Last synced: 8 months ago
JSON representation
Project page of the paper: "Event-based Mosaicing Bundle Adjustment"
- Host: GitHub
- URL: https://github.com/tub-rip/epba
- Owner: tub-rip
- License: gpl-3.0
- Created: 2024-12-11T12:22:07.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2025-03-12T22:15:50.000Z (12 months ago)
- Last Synced: 2025-03-12T23:23:08.846Z (12 months ago)
- Size: 136 KB
- Stars: 10
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- event-vision-index - EPBA: **E**vent-based **P**hotometric **B**undle **A**djustment (TPAMI 2025) - rip/epba?style=social"/> (Visual Odometry and SLAM / Rotational motion (3-DOF))
README
# EPBA: Event-based Photometric Bundle Adjustment
Official repository for [**Event-based Photometric Bundle Adjustment**](https://arxiv.org/abs/2412.14111), by [Shuang Guo](https://shuang1997.github.io) and [Guillermo Gallego](http://www.guillermogallego.es).
[PDF](https://arxiv.org/pdf/2412.14111) | [Video](https://youtu.be/v4DhU-N6o6s) | [Dataset](https://github.com/tub-rip/ECRot)
[](https://youtu.be/v4DhU-N6o6s)
## Citation
If you use this work in your research, please cite it as follows:
```bibtex
@Article{Guo24epba,
author = {Shuang Guo and Guillermo Gallego},
title = {Event-based Photometric Bundle Adjustment},
journal = {(under review)},
year = 2024
}
```
# Code coming soon...
## Setup
### High-level Input-Output
**Input**:
- Events.
- Camera calibration.
- Initial trajectory from other front-end methods.
- (Optional) Initial panoramic brightness 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 EPBA on the newly-released ECRot dataset, see and download it at [here](https://github.com/tub-rip/ECRot). The instructions of running EPBA on the ECRot dataset 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)
* [EMBA: Event-based Mosaicing Bundle Adjustment (ECCV 2024)](https://github.com/tub-rip/emba)
* [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)