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.
Matlab: standalone - just need to get data.
ROS node (work in progress):
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.
Matlab: Run EMVS.m
ROS node: roslaunch evo emvs.launch
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