Event-Based Feature Tracking in Continuous Time with Sliding Window Optimization

07/09/2021

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by   Jason Chui, et al.

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We propose a novel method for continuous-time feature tracking in event cameras. To this end, we track features by aligning events along an estimated trajectory in space-time such that the projection on the image plane results in maximally sharp event patch images. The trajectory is parameterized by n^th order B-splines, which are continuous up to (n-2)^th derivative. In contrast to previous work, we optimize the curve parameters in a sliding window fashion. On a public dataset we experimentally confirm that the proposed sliding-window B-spline optimization leads to longer and more accurate feature tracks than in previous work.