Minimal Solvers for Full-DoF Motion Estimation from Asynchronous Differential SfM

The paper introduces a new framework for estimating full-degree-of-freedom egomotion directly from asynchronous optical flow captured by event cameras. By decoupling the differential epipolar constraint into angular and linear components and applying a first-order approximation, the authors derive a polynomial formulation that yields the first algebraic minimal 5‑point solver for this problem. An accelerated solver that truncates high‑order angular velocity terms is also proposed, enabling real‑time performance in high‑speed scenarios, and extensive tests show superior accuracy and robustness compared to traditional synchronous methods.