Official repository for CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximization, IEEE T-RO 2024, by Shuang Guo and Guillermo Gallego.
If you use this work in your research, please consider citing:
@Article{Guo24tro,
author = {Shuang Guo and Guillermo Gallego},
title = {{CMax}-{SLAM}: Event-based Rotational-Motion Bundle Adjustment
and {SLAM} System using Contrast Maximization},
journal = {{IEEE} Transactions on Robotics},
year = 2024,
volume = {40},
number = {},
pages = {2442--2461},
doi = {10.1109/TRO.2024.3378443}
}
@InProceedings{Gallego18cvpr,
author = {Guillermo Gallego and Henri Rebecq and Davide Scaramuzza},
title = {A Unifying Contrast Maximization Framework for Event Cameras,
with Applications to Motion, Depth, and Optical Flow
Estimation},
booktitle = {{IEEE} Conf. Comput. Vis. Pattern Recog. (CVPR)},
year = 2018,
pages = {3867--3876},
doi = {10.1109/CVPR.2018.00407}
}Input:
- Events.
- Camera calibration.
Output:
- Rotational motion of the event camera.
- Local (front-end) and global (back-end) image of warped events (IWEs).
We also release the dataset that we made, see and download it from here. The instructions of running CMax-SLAM on the ECRot datasets can be found here.
This code leverages the following repository for computing the derivative of Lie Group B-splines: