Imperial College London


Faculty of EngineeringDepartment of Computing

Senior Lecturer



+44 (0)20 7594 7123s.leutenegger Website




360ACE ExtensionSouth Kensington Campus






BibTex format

author = {Kim, H and Leutenegger, S and Davison, AJ},
doi = {10.1007/978-3-319-46466-4_21},
pages = {349--364},
publisher = {Springer},
title = {Real-time 3D reconstruction and 6-DoF tracking with an event camera},
url = {},
year = {2016}

RIS format (EndNote, RefMan)

AB - We propose a method which can perform real-time 3D reconstructionfrom a single hand-held event camera with no additional sensing,and works in unstructured scenes of which it has no prior knowledge.It is based on three decoupled probabilistic filters, each estimating 6-DoFcamera motion, scene logarithmic (log) intensity gradient and scene inversedepth relative to a keyframe, and we build a real-time graph ofthese to track and model over an extended local workspace. We alsoupgrade the gradient estimate for each keyframe into an intensity image,allowing us to recover a real-time video-like intensity sequence withspatial and temporal super-resolution from the low bit-rate input eventstream. To the best of our knowledge, this is the first algorithm provablyable to track a general 6D motion along with reconstruction of arbitrarystructure including its intensity and the reconstruction of grayscale videothat exclusively relies on event camera data.
AU - Kim,H
AU - Leutenegger,S
AU - Davison,AJ
DO - 10.1007/978-3-319-46466-4_21
EP - 364
PB - Springer
PY - 2016///
SN - 0302-9743
SP - 349
TI - Real-time 3D reconstruction and 6-DoF tracking with an event camera
UR -
UR -
ER -