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Real-Time 3D Reconstruction and 6-DoF Tracking with an Event Camera
Published on Oct 24, 20162146 Views
We propose a method which can perform real-time 3D reconstruction from a single hand-held event camera with no additional sensing, and works in unstructured scenes of which it has no prior knowledge
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Chapter list
Real-Time 3D Reconstruction and 6-DoF Tracking with an Event Camera00:00
Standard Camera vs Event Camera/100:15
Standard Camera vs Event Camera/201:43
Can we use event cameras for SLAM problems?02:23
3-DoF Tracking and 2D Reconstruction03:12
ETAM 2D04:10
Towards 3D SLAM04:39
Method Overview05:25
Virtual Keyframe06:07
EKF Based 6-DoF Event Camera Pose Estimation/106:35
EKF Based 6-DoF Event Camera Pose Estimation/206:54
EKF Based 6-DoF Event Camera Pose Estimation/306:58
EKF Based 6-DoF Event Camera Pose Estimation/406:59
EKF Based 6-DoF Event Camera Pose Estimation/507:00
EKF Based 6-DoF Event Camera Pose Estimation/607:12
Pixel-Wise EKF Based Gradient Estimation07:32
Log Intensity Reconstruction08:04
Pixel-Wise EKF Based Inverse Depth Estimation08:30
Results: Real-Time Demo09:00
Results: Single Keyframe Estimation09:43
Results: Multiple Keyframes10:05
Results: Video Rendering10:35
Conclusions10:52
Thank you for your attention! 11:33