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We present a new solution to tracking and mapping with an event camera. Themotion of the camera contains both rotation and translation, and thedisplacements happen in an arbitrarily structured environment. As a result, theimage matching may no longer be represented by a low-dimensional homographicwarping, thus complicating an application of the commonly used Image of WarpedEvents (IWE). We introduce a new solution to this problem by performingcontrast maximization in 3D. The 3D location of the rays cast for each event issmoothly varied as a function of a continuous-time motion parametrization, andthe optimal parameters are found by maximizing the contrast in a volumetric raydensity field. Our method thus performs joint optimization over motion andstructure. The practical validity of our approach is supported by anapplication to AGV motion estimation and 3D reconstruction with a singlevehicle-mounted event camera. The method approaches the performance obtainedwith regular cameras, and eventually outperforms in challenging visualconditions.

Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization