arXiv Computer Vision
Sep 3

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.

By Shuo Pan, Banglei Guan, Bin Li, Zhenbao Yu, Zibin Liu, Zi Wang, Yang Shang, Qifeng Yu
arXiv Computer Vision
Aug 28

Real-time Unsupervised Object Discovery from Asynchronous Event Streams

The paper presents a lightweight, training‑free framework for real‑time unsupervised object discovery from asynchronous event camera streams. It introduces a linear‑time Spatio‑Temporal Probabilistic Event Filter (SPEF) that adaptively distinguishes salient motion from noise, and an Event Morton Code Clustering (EMCC) module that efficiently groups events without costly distance calculations. Experiments on E‑MLB, FRED, and eTraM datasets show SPEF outperforms classical filters and competes with learning‑based methods, while EMCC achieves the highest accuracy and fastest execution among density‑based clustering baselines.

By Pratham G. Shenwai, Hemant Kumar Singh, Sridhar Ravi
arXiv Computer Vision
Aug 28

SSMB: Self-Supervised Local Feature Detection under Motion Blur

SSMB is a self‑supervised keypoint detector designed for motion‑blurred images that does not rely on handcrafted detectors or external pseudo‑labels. It introduces a Local Discriminability Enhancement module to recover fine‑grained local detail after global feature mixing, and is trained in two stages: geometric pretraining on synthetic shapes and blur‑aware training on real sharp‑blur pairs using a multi‑component self‑supervised objective. Extensive experiments show that SSMB outperforms both supervised and self‑supervised baselines on keypoint detection, image matching, relative pose estimation, and visual localization under motion blur, achieving state‑of‑the‑art performance.

By Zhenjun Zhao, Fabio Bellavia, Wenting Wang, Fan Zhu, Jiajun Wu, Suryansh Kumar, Mingqiang Wei, Haoang Li, Javier Civera