{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,6]],"date-time":"2026-04-06T12:14:01Z","timestamp":1775477641413,"version":"3.50.1"},"reference-count":78,"publisher":"Wiley","issue":"12","license":[{"start":{"date-parts":[[2024,7,5]],"date-time":"2024-07-05T00:00:00Z","timestamp":1720137600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2024,12]]},"abstract":"<jats:p>Event cameras demonstrate substantial potential in handling challenging situations, such as motion blur and high dynamic range. Herein, event\u2013visual\u2013inertial state estimation and 3D dense mapping (EVI\u2010SAM) are introduced to tackle the problem of pose tracking and 3D dense reconstruction using the monocular event camera. A novel event\u2010based hybrid tracking framework is designed to estimate the pose, leveraging the robustness of feature matching and the precision of direct alignment. Specifically, an event\u2010based 2D\u20132D alignment is developed to construct the photometric constraint and tightly integrated with the event\u2010based reprojection constraint. The mapping module recovers the dense and colorful depth of the scene through the image\u2010guided event\u2010based mapping method. Subsequently, the appearance, texture, and surface mesh of the 3D scene can be reconstructed by fusing the dense depth map from multiple viewpoints using truncated signed distance function fusion. To the best of knowledge, this is the first nonlearning work to realize event\u2010based dense mapping. Numerical evaluations are performed on both publicly available datasets, which qualitatively and quantitatively demonstrate the superior performance of our method. EVI\u2010SAM effectively balances accuracy and robustness while maintaining computational efficiency, showcasing superior pose tracking and dense mapping performance in challenging scenarios.<\/jats:p>","DOI":"10.1002\/aisy.202400243","type":"journal-article","created":{"date-parts":[[2024,7,5]],"date-time":"2024-07-05T04:29:35Z","timestamp":1720153775000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["EVI\u2010SAM: Robust, Real\u2010Time, Tightly\u2010Coupled Event\u2013Visual\u2013Inertial State Estimation and 3D Dense Mapping"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4518-7852","authenticated-orcid":false,"given":"Weipeng","family":"Guan","sequence":"first","affiliation":[{"name":"Adaptive Robotic Controls Lab (ArcLab) Department of Mechanical Engineering The University of Hong Kong  Hong Kong SAR 000000 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5629-8625","authenticated-orcid":false,"given":"Peiyu","family":"Chen","sequence":"additional","affiliation":[{"name":"Adaptive Robotic Controls Lab (ArcLab) Department of Mechanical Engineering The University of Hong Kong  Hong Kong SAR 000000 China"}]},{"given":"Huibin","family":"Zhao","sequence":"additional","affiliation":[{"name":"Adaptive Robotic Controls Lab (ArcLab) Department of Mechanical Engineering The University of Hong Kong  Hong Kong SAR 000000 China"}]},{"given":"Yu","family":"Wang","sequence":"additional","affiliation":[{"name":"Adaptive Robotic Controls Lab (ArcLab) Department of Mechanical Engineering The University of Hong Kong  Hong Kong SAR 000000 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5611-4902","authenticated-orcid":false,"given":"Peng","family":"Lu","sequence":"additional","affiliation":[{"name":"Adaptive Robotic Controls Lab (ArcLab) Department of Mechanical Engineering The University of Hong Kong  Hong Kong SAR 000000 China"}]}],"member":"311","published-online":{"date-parts":[[2024,7,5]]},"reference":[{"key":"e_1_2_13_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2020.3008413"},{"key":"e_1_2_13_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-017-1050-6"},{"key":"e_1_2_13_4_1","unstructured":"Y.Zhou G.Gallego H.Rebecq L.Kneip H.Li D.Scaramuzza inProc. of the European Conf. on Computer Vision (ECCV) IEEE2018 pp.235\u2013251."},{"key":"e_1_2_13_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200221"},{"key":"e_1_2_13_6_1","unstructured":"A. Z.Zhu L.Yuan K.Chaney K.Daniilidis inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE2019 pp.989\u2013997."},{"key":"e_1_2_13_7_1","unstructured":"V.Rudnev M.Elgharib C.Theobalt V.Golyanik inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE2023 pp.4992\u20135002."},{"key":"e_1_2_13_8_1","doi-asserted-by":"crossref","unstructured":"S.Tulyakov F.Fleuret M.Kiefel P.Gehler M.Hirsch inProc. of the IEEE\/CVF Int. Conf. on Computer Vision IEEE2019 pp.1527\u20131537.","DOI":"10.1109\/ICCV.2019.00161"},{"key":"e_1_2_13_9_1","unstructured":"Y.Nam M.Mostafavi K.\u2010J.Yoon J.Choi inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE2022 pp.6114\u20136123."},{"key":"e_1_2_13_10_1","unstructured":"S. H.Ahmed H. W.Jang S. N.Uddin Y. J.Jung inProc. of the AAAI Conf. on Artificial Intelligence Vol.352021 pp.882\u2013890."},{"key":"e_1_2_13_11_1","unstructured":"M.Mostafavi K.\u2010J.Yoon J.Choi inProc. of the IEEE\/CVF Int. Conf. on Computer Vision IEEE2021 pp.4258\u20134267."},{"key":"e_1_2_13_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2645143"},{"key":"e_1_2_13_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3062252"},{"key":"e_1_2_13_14_1","unstructured":"J.Hidalgo\u2010Carri\u00f3 G.Gallego D.Scaramuzza inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE2022 pp.5781\u20135790."},{"key":"e_1_2_13_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793357"},{"key":"e_1_2_13_16_1","author":"Guan W.","year":"2023","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"e_1_2_13_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3269950"},{"key":"e_1_2_13_18_1","unstructured":"A.Zihao Zhu N.Atanasov K.Daniilidis inProc. of the IEEE Conf. on Computer Vision and Pattern Recognition IEEE2017 pp.5391\u20135399."},{"key":"e_1_2_13_19_1","unstructured":"H.Rebecq T.Horstschaefer D.Scaramuzza inBritish Machine Vision Conf. (BMVC)2017."},{"key":"e_1_2_13_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2858287"},{"key":"e_1_2_13_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3187826"},{"key":"e_1_2_13_22_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-019-01209-w"},{"key":"e_1_2_13_23_1","doi-asserted-by":"crossref","unstructured":"W.Guan P.Lu in2022 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2022 pp.2438\u20132445.","DOI":"10.1109\/IROS47612.2022.9981970"},{"key":"e_1_2_13_24_1","doi-asserted-by":"crossref","unstructured":"B.Dai C. L.Gentil T.Vidal\u2010Calleja in2022 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2022 pp.9475\u20139482.","DOI":"10.1109\/IROS47612.2022.9981249"},{"key":"e_1_2_13_25_1","doi-asserted-by":"crossref","unstructured":"D.Liu A.Parra Y.Latif B.Chen T.\u2010J.Chin I.Reid in2022 Int. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2022 pp.9432\u20139438.","DOI":"10.1109\/ICRA46639.2022.9811943"},{"key":"e_1_2_13_26_1","doi-asserted-by":"crossref","unstructured":"C.Le Gentil F.Tschopp I.Alzugaray T.Vidal\u2010Calleja R.Siegwart J.Nieto in2020 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2020 pp.5863\u20135870.","DOI":"10.1109\/IROS45743.2020.9341208"},{"key":"e_1_2_13_27_1","unstructured":"W.Chamorro J.Sol\u00e0 J.Andrade\u2010Cetto inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE2023 pp.3975\u20133982."},{"key":"e_1_2_13_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3187266"},{"key":"e_1_2_13_29_1","doi-asserted-by":"crossref","unstructured":"H.Kim S.Leutenegger A. J.Davison inEuropean Conf. on Computer Vision Springer New York2016 pp.349\u2013364.","DOI":"10.1007\/978-3-319-46466-4_21"},{"key":"e_1_2_13_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2769655"},{"key":"e_1_2_13_31_1","unstructured":"S.Bryner G.Gallego H.Rebecq D.Scaramuzza in2019 Int. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2019 pp.325\u2013331."},{"key":"e_1_2_13_32_1","doi-asserted-by":"crossref","unstructured":"Y.\u2010F.Zuo J.Yang J.Chen X.Wang Y.Wang L.Kneip in2022 Int. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2022 pp.2179\u20132185.","DOI":"10.1109\/ICRA46639.2022.9811805"},{"key":"e_1_2_13_33_1","unstructured":"Y.Dong(Preprint) arXiv:2102.03567 v1 submitted: Feb.2021."},{"key":"e_1_2_13_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3096161"},{"key":"e_1_2_13_35_1","doi-asserted-by":"crossref","unstructured":"G.Gallego H.Rebecq D.Scaramuzza inProc. of the IEEE Conf. on Computer Vision and Pattern Recognition IEEE Piscataway NJ2018 pp.3867\u20133876.","DOI":"10.1109\/CVPR.2018.00407"},{"key":"e_1_2_13_36_1","unstructured":"S.Chiavazza S. M.Meyer Y.Sandamirskaya inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE2023 pp.4070\u20134079."},{"key":"e_1_2_13_37_1","unstructured":"K.Chaney A.Zihao Zhu K.Daniilidis inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition Workshops IEEE2019."},{"key":"e_1_2_13_38_1","doi-asserted-by":"crossref","unstructured":"J.Hidalgo\u2010Carri\u00f3 D.Gehrig D.Scaramuzza in2020 Int. Conf. on 3D Vision (3DV) IEEE Piscataway NJ2020 pp.534\u2013542.","DOI":"10.1109\/3DV50981.2020.00063"},{"key":"e_1_2_13_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3060707"},{"key":"e_1_2_13_40_1","doi-asserted-by":"crossref","unstructured":"I.Hwang J.Kim Y. M.Kim inProc. of the IEEE\/CVF Winter Conf. on Applications of Computer Vision IEEE2023 pp.837\u2013847.","DOI":"10.1109\/WACV56688.2023.00090"},{"key":"e_1_2_13_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3240646"},{"key":"e_1_2_13_42_1","unstructured":"S.Mahbub B.Feng C.Metzler inNeurIPS 2023 Workshop on Deep Learning and Inverse Problems2023."},{"key":"e_1_2_13_43_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2018.00442"},{"key":"e_1_2_13_44_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300027"},{"key":"e_1_2_13_45_1","unstructured":"S.Ghosh G.Gallego inEuropean Conf. on Computer Vision Workshops (ECCVW) Ego4D IEEE2022."},{"key":"e_1_2_13_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"e_1_2_13_47_1","doi-asserted-by":"crossref","unstructured":"T.Qin S.Shen in2017 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2017 pp.4225\u20134232.","DOI":"10.1109\/IROS.2017.8206284"},{"key":"e_1_2_13_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2658577"},{"key":"e_1_2_13_49_1","unstructured":"K.Huang S.Zhang J.Zhang andD.Tao(Preprint) arXiv:2304.09793 v1 submitted: Apr.2023."},{"key":"e_1_2_13_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2623335"},{"key":"e_1_2_13_51_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3139964"},{"key":"e_1_2_13_52_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20360"},{"key":"e_1_2_13_53_1","unstructured":"S.Leutenegger P.Furgale V.Rabaud M.Chli K.Konolige R.Siegwart inProc. of Robotis Science and Systems (RSS) 20132013."},{"key":"e_1_2_13_54_1","doi-asserted-by":"crossref","unstructured":"R. T.Collins inProc. CVPR IEEE Computer Society Conf. on Computer Vision and Pattern Recognition IEEE Piscataway NJ1996 pp.358\u2013363.","DOI":"10.1109\/CVPR.1996.517097"},{"key":"e_1_2_13_55_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919850296"},{"key":"e_1_2_13_56_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11042-017-4791-x"},{"key":"e_1_2_13_57_1","doi-asserted-by":"publisher","DOI":"10.1080\/10867651.2004.10487596"},{"key":"e_1_2_13_58_1","doi-asserted-by":"crossref","unstructured":"K.Wang W.Ding S.Shen in2018 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2018 pp.1\u20139.","DOI":"10.1109\/IROS.2018.8594101"},{"key":"e_1_2_13_59_1","doi-asserted-by":"crossref","unstructured":"H.Oleynikova Z.Taylor M.Fehr R.Siegwart J.Nieto in2017 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2017 pp.1366\u20131373.","DOI":"10.1109\/IROS.2017.8202315"},{"key":"e_1_2_13_60_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917691115"},{"key":"e_1_2_13_61_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3186770"},{"key":"e_1_2_13_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800793"},{"key":"e_1_2_13_63_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068942"},{"key":"e_1_2_13_64_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2007.1166"},{"key":"e_1_2_13_65_1","author":"Chen P.","year":"2023","journal-title":"IEEE Trans. Intell. Veh."},{"key":"e_1_2_13_66_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2014.2329766"},{"key":"e_1_2_13_67_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2015.2511586"},{"key":"e_1_2_13_68_1","unstructured":"intelrealsense https:\/\/www.intelrealsense.com\/depth\u2010camera\u2010d455\/."},{"key":"e_1_2_13_69_1","unstructured":"Z.Taylor A Compact Package for Undistorting Images Directly from Kalibr Calibration Files https:\/\/github.com\/ethz\u2010asl\/image_undistort(accessed: November 2021)."},{"key":"e_1_2_13_70_1","doi-asserted-by":"publisher","DOI":"10.1145\/3528223.3530127"},{"key":"e_1_2_13_71_1","unstructured":"J. L.Schonberger J.\u2010M.Frahm inProc. of the IEEE Conf. on Computer Vision and Pattern Recognition IEEE Piscataway NJ2016 pp.4104\u20134113."},{"key":"e_1_2_13_72_1","unstructured":"Z.Zhu S.Peng V.Larsson W.Xu H.Bao Z.Cui M. R.Oswald M.Pollefeys inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE2022 pp.12786\u201312796."},{"key":"e_1_2_13_73_1","doi-asserted-by":"crossref","unstructured":"H.Wang J.Wang L.Agapito inProc. of the IEEE\/CVF Conf. on Computer Vision and Pattern Recognition IEEE2023 pp.13293\u201313302.","DOI":"10.1109\/CVPR52729.2023.01277"},{"key":"e_1_2_13_74_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3339432"},{"key":"e_1_2_13_75_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3272847"},{"key":"e_1_2_13_76_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075644"},{"key":"e_1_2_13_77_1","unstructured":"T.Qin J.Pan S.Cao S.Shen(Preprint) arXiv:1901.03638 v1 submitted: Jan.2019."},{"key":"e_1_2_13_78_1","doi-asserted-by":"crossref","unstructured":"I.Alzugaray M.Chli in2019 Int. Conf. on 3D Vision (3DV) IEEE Piscataway NJ2019 pp.269\u2013278.","DOI":"10.1109\/3DV.2019.00038"},{"key":"e_1_2_13_79_1","doi-asserted-by":"crossref","unstructured":"B.Dai C.Le Gentil T.Vidal\u2010Calleja in2022 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2022 pp.9475\u20139482.","DOI":"10.1109\/IROS47612.2022.9981249"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202400243","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T14:30:05Z","timestamp":1759847405000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202400243"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,7,5]]},"references-count":78,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2024,12]]}},"alternative-id":["10.1002\/aisy.202400243"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202400243","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,7,5]]},"assertion":[{"value":"2024-03-26","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-07-05","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2400243"}}