EPBA: Event-based Photometric Bundle Adjustment

October 7, 2025 ยท View on GitHub

Official repository for Event-based Photometric Bundle Adjustment, IEEE T-PAMI 2025, by Shuang Guo and Guillermo Gallego.

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Event-based Photometric Bundle Adjustment

Citation

If you use this work in your research, please cite it as follows:

@Article{Guo25tpami,
  author        = {Shuang Guo and Guillermo Gallego},
  title         = {Event-based Photometric Bundle Adjustment},
  journal       = {IEEE Trans. Pattern Anal. Mach. Intell. (T-PAMI)},
  year          = 2025,
  volume        = {47},
  number        = {10},
  pages         = {9280-9297},
  doi           = {10.1109/TPAMI.2025.3586497}
}

Setup

High-level Input-Output

Input:

  • Events.
  • Camera calibration.
  • Initial trajectory from other front-end methods.
  • (Optional) Initial panoramic brightness maps.

Output:

  • Refined rotations of the event camera.
  • Refined intensity panorama.

Usage

Event Camera Rotation Dataset (ECRot)

We test EPBA on the newly-released ECRot dataset, see and download it at here. The instructions of running EPBA on the ECRot dataset can be found here.

Acknowledgements

This code leverages the following repository for computing the derivative of Lie Group B-splines:

Additional Resources