{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/comparing-representations-in-tracking-for","title":"Comparing Representations in Tracking for Event Camera-based SLAM","arxiv_id":"2104.09887","date":"2021-04-20","proceeding":null,"authors":["Jianhao Jiao","Huaiyang Huang","Liang Li","Zhijian He","Yilong Zhu","Ming Liu"],"abstract":"This paper investigates two typical image-type representations for event camera-based tracking: time surface (TS) and event map (EM). Based on the original TS-based tracker, we make use of these two representations' complementary strengths to develop an enhanced version. The proposed tracker consists of a general strategy to evaluate the optimization problem's degeneracy online and then switch proper representations. Both TS and EM are motion- and scene-dependent, and thus it is important to figure out their limitations in tracking. We develop six tracker variations and conduct a thorough comparison of them on sequences covering various scenarios and motion complexities. We release our implementations and detailed results to benefit the research community on event cameras: https: //github.com/gogojjh/ESVO_extension.","url_abs":"https://arxiv.org/abs/2104.09887v1","url_pdf":"https://arxiv.org/pdf/2104.09887v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"comparing-representations-in-tracking-for","repo_url":"https://github.com/gogojjh/ESVO_extension","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":{"status":"ok"}}],"tasks":[],"methods":[{"method_slug":"ts","method_name":"TS"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2104.09887","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}