Assessing Event-Based Localization Algorithms for Vehicular Off-Road Applications
Date
2023
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Tartu Ülikool
Abstract
Event cameras, with their high temporal resolution and dynamic range, represent a
promising technology for localization applications. Yet, their performance in off-road
environments remains untested. This thesis addresses this gap by assessing three eventbased
localization methods in off-road settings. A conventional frame-based method is
included as a benchmark for comparison. The effectiveness of each method is assessed
by comparing computed trajectories with ground truth data. The findings indicate that
current publicly available event-based methods are not yet mature enough to provide
accurate and robust performance in off-road environments. The study underscores
the need for further research to fully harness the potential of event cameras in these
challenging settings.
Description
Keywords
camera, visual odometry, robootika, pose estimation