Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration
Researchers propose a real-time asynchronous event-based monocular odometry for planetary rovers, using an Error-State Kalman Filter to process event camera data for robust ego-motion estimation under high dynamic range lighting and computational constraints.
Article intelligence
Key points
- Event cameras provide asynchronous pixel-wise brightness changes with microsecond resolution, ideal for high-speed sensing and HDR environments.
- The approach uses an Error-State Kalman Filter to continuously estimate camera motion from event streams.
- The system integrates RATE, a real-time asynchronous feature tracker, to update camera state with each tracked position.
- Designed for planetary rovers operating under strict computational and environmental constraints.
Why it matters
This matters because event cameras provide asynchronous pixel-wise brightness changes with microsecond resolution, ideal for high-speed sensing and HDR environments.
Technical impact
May affect research directions, evaluation methods, open-source reproduction, and productization paths.
[2605.27661] Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration
[Submitted on 26 May 2026]
Title:Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration
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Abstract: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.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.27661 [cs.RO]
(or arXiv:2605.27661v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.27661
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Wolfgang Stuerzl [view email] [v1] Tue, 26 May 2026 20:25:33 UTC (2,399 KB)
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