T‐ESVO: Improved Event‐Based Stereo Visual Odometry via Adaptive Time‐Surface and Truncated Signed Distance Function

The emerging event cameras have the potential to be an excellent complement for standard within various visual tasks, especially in illumination-changing environments or situations requiring high-temporal resolution. Herein, event-based stereo odometry (VO) system via adaptive time-surface (TS) and truncated signed distance function (TSDF), namely, T-ESVO, is proposed . consists of three carefully designed components, including processing unit, mapping tracking unit. Specifically, unit adopts a novel spatial–temporal TS that can deal with different camera motions environments. introduces TSDF describe 3D representation achieves depth estimation based on global historical information contained environmental description. 6-DoF pose through 3D–2D registration method left/right selection mechanism point mechanism. effectiveness robustness are evaluated datasets, experimental results show T-ESVO good performance both accuracy when compared other state-of-the-art VO systems.