Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration
Fuente:
arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Acceso en línea: | |
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| _version_ | 1866918526068981760 |
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| author | Inigo, Benat Steidle, Florian Stuerzl, Wolfgang |
| author_facet | Inigo, Benat Steidle, Florian Stuerzl, Wolfgang |
| contents | We describe our preliminary design of a real-time asynchronous event-based monocular odometry for planetary exploration. Operating under strict computational constraints, planetary rovers frequently encounter complex, unpredictable environments that demand high-speed sensing and robustness to high dynamic range (HDR) lighting. Event cameras address these needs by reporting asynchronous, pixel-wise brightness changes with microsecond resolution, significantly reducing data bandwidth while maintaining robustness in extreme lighting conditions. We propose an approach based on an Error-State Kalman Filter (ESKF) that leverages this asynchronous event stream to continuously estimate camera ego-motion. The camera state is updated with every tracked position output generated by RATE, a real-time asynchronous feature tracker. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_27661 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration Inigo, Benat Steidle, Florian Stuerzl, Wolfgang Robotics We describe our preliminary design of a real-time asynchronous event-based monocular odometry for planetary exploration. Operating under strict computational constraints, planetary rovers frequently encounter complex, unpredictable environments that demand high-speed sensing and robustness to high dynamic range (HDR) lighting. Event cameras address these needs by reporting asynchronous, pixel-wise brightness changes with microsecond resolution, significantly reducing data bandwidth while maintaining robustness in extreme lighting conditions. We propose an approach based on an Error-State Kalman Filter (ESKF) that leverages this asynchronous event stream to continuously estimate camera ego-motion. The camera state is updated with every tracked position output generated by RATE, a real-time asynchronous feature tracker. |
| title | Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.27661 |