Event-Based Feature Tracking in Continuous Time with Sliding Window Optimization

Abstract: We propose a novel method for continuous-time feature tracking in event cameras. To this end, we track features by aligning events along an estimated trajectory in space-time such that the projection on the image plane results in maximally sharp event patch images. The trajectory is parameterized by $n^{th}$ order B-splines, which are continuous up to $(n-2)^{th}$ derivative. In contrast to previous work, we optimize the curve parameters in a sliding window fashion. On a public dataset we experimentally confirm that the proposed sliding-window B-spline optimization leads to longer and more accurate feature tracks than in previous work.