Standard and Event Cameras Fusion for Dense Mapping

02/06/2021

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by   Yan Dong, et al.

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Event cameras are a kind of bio-inspired sensors that generate data when the brightness changes. Because of the advantages of low-latency and high dynamic range (HDR), they are widely used in the field of mobile robots. However, due to the nature of the sparse event stream, event-based mapping can only obtain sparse or semi-dense edge 3D maps. By contrast, standard cameras provide complete frames. To leverage the complementarity of event-based and standard frame-based cameras, we propose a fusion strategy for dense mapping in this paper. We first generate an edge map from events, and then fill the map using frames to obtain the dense depth map.