Assessing Event-Based Localization Algorithms for Vehicular Off-Road Applications

Abstract

Event cameras, with their high temporal resolution and dynamic range, represent a promising technology for localization applications. Yet, their performance in off-road environments remains untested. This thesis addresses this gap by assessing three eventbased localization methods in off-road settings. A conventional frame-based method is included as a benchmark for comparison. The effectiveness of each method is assessed by comparing computed trajectories with ground truth data. The findings indicate that current publicly available event-based methods are not yet mature enough to provide accurate and robust performance in off-road environments. The study underscores the need for further research to fully harness the potential of event cameras in these challenging settings.