 Kim H, Leutenegger S, Davison A J. Real-time 3D reconstruction and 6-DoF tracking with an event camera[C]//European conference on computer vision. Springer, Cham, 2016: 349-364.

The first purely event-based 6-DoF (Degree-of-Freedom) VO, which performed real-time event-based SLAM

through three decoupled probabilistic filters (EKF) that jointly estimate the camera motion, log-intensity image,

and inverse depth (semi-dense). However, it is computationally expensive and requires GPU to achieve real-

time performance.

Real-time 3D Reconstruction and 6-DoF Tracking

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