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EVO

Matlab/C++ implementation of Event-Based Multi-View Stereo (mapping half of Event-Based Visual Odometry, i.e. using ground truth poses for localization).

Note: After we worked on this project, the authors of the paper published source code for EMVS. They have also compiled a helpful list of resources for event-based vision.

Prerequisites

Matlab: standalone - just need to get data.

ROS node (work in progress):

Data

Get datasets from University of Zurich's [Event-Camera Dataset].

Matlab: download data in txt format, and run ExtractData on it to get a mat file.

ROS node: download rosbag to data folder and point emvs.launch to it.

Running

Matlab: Run EMVS.m

ROS node: roslaunch evo emvs.launch

Authors

  • Max Hu
  • Aum Jadhav
  • Benjamin Kuo
  • Cyrus Liu
  • Maitreya Naik
  • Kazu Otani

References

  • Rebecq, Henri, Guillermo Gallego, and Davide Scaramuzza. ”EMVS: Event-based Multi-View Stereo.” British Machine Vision Conference (BMVC). No. EPFL-CONF-221504. 2016.

  • Henri Rebecq, Timo Horstschaefer, Guillermo Gallego, Davide Scaramuzza, "EVO: A Geometric Approach to Event-based 6-DOF Parallel Tracking and Mapping in Real-time," IEEE Robotics and Automation Letters (RA-L), 2016.

  • Gallup, David, et al. ”Real-time plane-sweeping stereo with multiple sweeping directions.” Computer Vision and Pattern Recognition, 2007. CVPR’07. IEEE Conference on. IEEE, 2007

  • event-based_vision_resources from UZH group

  • Image Reconstruction from an Event Camera - also from UZH