ESL: Event-based Structured Light


Manasi Muglikar, Guillermo Gallego and Davide Scaramuzza


Event cameras are bio-inspired sensors providing significant advantages over standard cameras such as low-latency, high temporal resolution, and high dynamic range. We propose a novel structured-light system using an event camera, to tackle the problem of accurate and high speed depth sensing. The setup presented in this paper consists of an event camera and a laser-point projector, which uniformly illuminates the scene in a raster scanning pattern in 16 milliseconds. Previously proposed methods rely on time-constancy principle (i.e., instantaneous transmission from projector to camera), which often breaks down due to signal latency and jitter effects, leading to noisy correspondences and depth errors at high scanning speeds. Our method consists of minimizing an energy function designed to exploit the spatio-temporal consistency of light rays projected from the projector plane and observed as events on the event image plane. The resulting method is robust to event jitter and can therefore perform better at higher scanning speeds. Experiments demonstrate that our method can deal with high-speed motion and outperform state-of-the-art 3D reconstruction methods based on event cameras, reducing the fill rate by 83% on average, for the same acquisition time. Code and dataset will be released upon acceptance.

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  Important Dates

All deadlines are 23:59 Pacific Time (PT). No extensions will be granted.

Paper registration July 23 30, 2021
Paper submission July 30, 2021
Supplementary August 8, 2021
Tutorial submission August 15, 2021
Tutorial notification August 31, 2021
Rebuttal period September 16-22, 2021
Paper notification October 1, 2021
Camera ready October 15, 2021
Demo submission July 30 Nov 15, 2021
Demo notification Oct 1 Nov 19, 2021
Tutorial November 30, 2021
Main conference December 1-3, 2021