Official repository for ES-PTAM: Event-based Stereo Parallel Tracking and Mapping, by Suman Ghosh, Valentina Cavinato and Guillermo Gallego, published at the European Conference on Computer Vision (ECCV) Workshops 2024 Milan, Italy.
✨ It was presented as an Oral Spotlight at the NeVi Workshop.
✨ A live demo was also presented at ECCV 2024.
If you use this work in your research, please cite it as follows:
@InProceedings{Ghosh24eccvw,
author = {Suman Ghosh and Valentina Cavinato and Guillermo Gallego},
title = {{ES-PTAM}: Event-based Stereo Parallel Tracking and Mapping},
booktitle = {European Conference on Computer Vision (ECCV) Workshops},
year = {2024}
}
- Events from two or more cameras
- Camera calibration (intrinsic, extrinsic) parameters
- Camera (i.e., sensor rig) poses
- Depth map
- Confidence map
- Point cloud
- Intermediate ray density maps / Disparity Space Images (DSI)
- Installation
- Running examples on different datasets
- Running live with DAVIS cameras
- Parameter tuning
The original ES-PTAM trajectories and GT poses for various sequences are available here.
They have been evaluted using this tool.
The license is available here.