Optical Flow-Guided 6DoF Object Pose Tracking with an Event Camera

• URL: http://arxiv.org/abs/2512.21053v1
• Date: Wed, 24 Dec 2025 08:40:57 GMT
• Title: Optical Flow-Guided 6DoF Object Pose Tracking with an Event Camera
• Authors: Zibin Liu, Banglei Guan, Yang Shang, Shunkun Liang, Zhenbao Yu, Qifeng Yu,
• Abstract summary: We present an optical flow-guided 6DoF object pose tracking method with an event camera.<n>We show that our methods outperform event-based state-of-the-art methods in terms of both accuracy and robustness.
• Score: 18.13747114612191
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Object pose tracking is one of the pivotal technologies in multimedia, attracting ever-growing attention in recent years. Existing methods employing traditional cameras encounter numerous challenges such as motion blur, sensor noise, partial occlusion, and changing lighting conditions. The emerging bio-inspired sensors, particularly event cameras, possess advantages such as high dynamic range and low latency, which hold the potential to address the aforementioned challenges. In this work, we present an optical flow-guided 6DoF object pose tracking method with an event camera. A 2D-3D hybrid feature extraction strategy is firstly utilized to detect corners and edges from events and object models, which characterizes object motion precisely. Then, we search for the optical flow of corners by maximizing the event-associated probability within a spatio-temporal window, and establish the correlation between corners and edges guided by optical flow. Furthermore, by minimizing the distances between corners and edges, the 6DoF object pose is iteratively optimized to achieve continuous pose tracking. Experimental results of both simulated and real events demonstrate that our methods outperform event-based state-of-the-art methods in terms of both accuracy and robustness.

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