AeVIO: Asynchronous Event based Visual Inertial Odometry

Gupta, A and Sharma, P and Ghosh, D and Ghose, D and Muthukumar, SK (2023) AeVIO: Asynchronous Event based Visual Inertial Odometry. In: 9th IEEE International Conference on Electronics, Computing and Communication Technologies, CONECCT 2023, 14-16 July 2023, Bangalore, India.

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Abstract

Event cameras have several advantages such as motion blur-free data output, high dynamic range, and better low light sensitivity. Visual-Intertial Odometry (VIO) solutions can benefit with the use of these sensors instead of traditional frame based cameras. However, their sparse and asynchronous data pose a challenge for traditional computer vision algorithms. To address these shortcomings, asynchronous (data-driven) approaches are needed for event-camera-based VIO solutions. This paper introduces an end-to-end data-driven event camera based Visual-Inertial Odometry (AeVIO) algorithm that performs the state update based on camera velocity. The scheme performs event feature detection and tracking asynchronously on the event stream and fuses feature measurements with IMU data using a structureless version of the Extended Kalman Filter to update state estimates. The algorithm's performance is evaluated on various datasets, including simulated and real environments, and demonstrates better performance in the tested scenarios when compared with image-based MSCKF-mono. © 2023 IEEE.

Item Type:	Conference Paper
Publication:	Proceedings of CONECCT 2023 - 9th International Conference on Electronics, Computing and Communication Technologies
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Biomimetics; Computer vision; Kalman filters; Robotics, Asynchronous data; Asynchronous event; Bio-inspired vision; Camera-based; Data output; Event camera; Event-based; Motion blur; Odometry; Visual inertial odometry, Cameras
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	21 Dec 2023 08:26
Last Modified:	21 Dec 2023 08:26
URI:	https://eprints.iisc.ac.in/id/eprint/83545

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