{"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/pl-evio-robust-monocular-event-based-visual","title":"PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features","arxiv_id":"2209.12160","date":"2022-09-25","proceeding":null,"authors":["Weipeng Guan","Peiyu Chen","Yuhan Xie","Peng Lu"],"abstract":"Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed motions and in high dynamic range scenarios. However, event cameras output only a little information or even noise when the relative motion between the camera and the scene is limited, such as in a still state. While standard cameras can provide rich perception information in most scenarios, especially in good lighting conditions. These two cameras are exactly complementary. In this paper, we proposed a robust, high-accurate, and real-time optimization-based monocular event-based visual-inertial odometry (VIO) method with event-corner features, line-based event features, and point-based image features. The proposed method offers to leverage the point-based features in the nature scene and line-based features in the human-made scene to provide more additional structure or constraints information through well-design feature management. Experiments in the public benchmark datasets show that our method can achieve superior performance compared with the state-of-the-art image-based or event-based VIO. Finally, we used our method to demonstrate an onboard closed-loop autonomous quadrotor flight and large-scale outdoor experiments. Videos of the evaluations are presented on our project website: https://b23.tv/OE3QM6j","url_abs":"https://arxiv.org/abs/2209.12160v2","url_pdf":"https://arxiv.org/pdf/2209.12160v2.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":"pl-evio-robust-monocular-event-based-visual","repo_url":"https://github.com/arclab-hku/event_based_vo-vio-slam","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"management","task_name":"Management"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2209.12160","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}