Research on Event Accumulator Settings for Event-Based SLAM

TL;DR

This paper investigates how different event accumulator configurations affect the performance of event-based SLAM, proposing an optimized method that improves accuracy and robustness in various scenarios.

Contribution

The paper introduces a novel event accumulator setting strategy that enhances event-based SLAM performance, validated through experiments on public datasets and real UAV applications.

Findings

Improved SLAM accuracy with optimized accumulator settings

Better performance compared to state-of-the-art algorithms

Demonstrated effectiveness on real UAV platform

Abstract

Event cameras are a new type of sensors that are different from traditional cameras. Each pixel is triggered asynchronously by event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement of brightness is higher than a certain threshold, an event is output. Compared with traditional cameras, event cameras have the advantages of high dynamic range and no motion blur. Accumulating events to frames and using traditional SLAM algorithm is a direct and efficient way for event-based SLAM. Different event accumulator settings, such as slice method of event stream, processing method for no motion, using polarity or not, decay function and event contribution, can cause quite different accumulating results. We conducted the research on how to accumulate event frames to achieve a better event-based SLAM performance. For experiment verification, accumulated event frames are fed to the traditional SLAM system to construct an event-based SLAM system. Our strategy of setting event accumulator has been evaluated on the public dataset. The experiment results show that our method can achieve better performance in most sequences compared with the state-of-the-art event frame based SLAM algorithm. In addition, the proposed approach has been tested on a quadrotor UAV to show the potential of applications in real scenario. Code and results are open sourced to benefit the research community of event cameras.