Early detection and tracking of ejecta in the vicinity of small solar system
bodies is crucial to guarantee spacecraft safety and support scientific
observation. During the visit of active asteroid Bennu, the OSIRIS-REx
spacecraft relied on the analysis of images captured by onboard navigation
cameras to detect particle ejection events, which ultimately beca
本文提出了一种使用事件相机实现实时的视觉里程计的解决方案,其中包括基于视觉一致性的立体事件数据融合的半密集三维场景重建以及通过选定的地图和事件数据表示解决的姿态恢复问题。该系统成功利用事件相机的优势,在高速和大动态范围场景下进行视觉里程计,并在标准 CPU 上以实时运行,已在公开数据集和作者的数据集上进行了测试。