This repository provides solvers to estimate egomotion for event cameras. It contains solvers for angular and linear velocities [1]. The core optimization algorithms are implemented in C++. We provide compiled MEX files compatible with both Ubuntu 20.04 + Matlab 2018b, as well as Windows 10 + Matlab R2022a. The data generation and demonstration scripts are written in MATLAB.
[1] Ji Zhao, Banglei Guan, Zibin Liu, and Laurent Kneip. Full-DoF Egomotion Estimation for Event Cameras Using Geometric Solvers. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025.
@inproceedings{zhao2025full,
title={Full-DoF Egomotion Estimation for Event Cameras Using Geometric Solvers},
author={Zhao, Ji and Guan, Banglei and Liu, Zibin and Kneip, Laurent},
booktitle={IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
year={2025}
}
Main Contributors: Ji Zhao and Zibin Liu
run test_2dof_solver.m to estimate linear velocity only.
run test_5dof_solver_adam.m to esimtate angular and linear velocities.
If you want to compile the MEX file, change the path for EIGEN library in file compile.m and run it.