ESVIO: Event-based Stereo Visual Inertial Odometry

Introduction

ESVIO is the first event-based stereo visual-inertial odometry, which leverages the complementary advantages of event streams, standard images, and inertial measurements. The pipeline includes the ESIO (purely event-based) and ESVIO (event with image-aided), which achieves spatial and temporal associations be- tween consecutive stereo event streams. A well-design back-end tightly-coupled fused the multi-sensor measurement to obtain robust state estimation under aggressive motion and HDR scenes. Below we demonstrates the structure of ESVIO and ESIO pipelines.

The video of ESVIO can be found as follow:

Evaluation

Platforms	Sequences	Length(m)	ATE
A Handheld Device	Escalator	77.460	X
	MCR normal dark	76.499	X
	MCR aggressive 6dof light	100.871	0.279
	Parkway loop night	461.049	27.549
	Forest	130.937	1.923
A UGV	Elevator	39.336	X
	Indoor loop	270.674	10.990
	MCR hdr	193.918	X
	Street day	2064.475	X
	Parkway loop night	461.051	X
A QR	Underground	98.312	5.676
	MCR hdr	85.08	0.241
	Forest	108.037	0.479
A UAV	MCR loop light	0.222	LiDARs not supported
A Car	Urban night loop	1807.884	X