Gyrevento

Authors: D. Rodrigues Da Costa, P. Vasseur, F. Morbidi

Affiliation: MIS laboratory, University of Picardie Jules Verne, Amiens, France

Email (corresponding author): daniel.rodrigues.da.costa[at]u-picardie.fr

This page provides supplementary material which complements the results reported in [1]: extended paper with additional CARLA simulations (see Fig. 2), omnidirectional event datasets, Matlab code, camera calibration parameters and videos. In the experiments with the Stäubli TX-60 robot (see Fig. 1), an omnidirectional event camera consisting of a Prophesee EVK3-HD camera and a VStone VS-C450MRTK catadioptric objective (hyperbolic mirror) was considered. In the video comparing the three speeds of the Stäubli TX-60 robot, Sequence 1a, 1b, 1c and Sequence 2a, 2b, 2c are referred to as Sequence 1, Speed 25%, 50%, 75% and Sequence 2, Speed 50%, 75%, 100%, respectively. The percentages refer to the maximum achievable speed of the robot. Finally, in the experiment with the handheld catadioptric camera (see Fig. 3), an Xsens MTi IMU was used.

Fig. 1: (left) Robot arm, (right) events from the catadioptric event camera.

Fig. 2: Car with the catadioptric event camera in CARLA simulator.

Fig. 3: IMU rigidly mounted atop the handheld catadioptric event camera.

Extended paper

Manuscript: pdf

Event datasets

Synthetic data (CARLA simulator)
- Urban trajectory [3-DoF]: Data
Real data (Stäubli TX-60 robot)
- Sequence 1 [1-DoF]: Data
- Sequence 2 [4-DoF]: Data

Matlab files

Gyrevento: Code

Calibration of the catadioptric event camera

Images and parameters: Data

Videos

Synthetic data (CARLA simulator)
- Urban trajectory [3-DoF]: Video
Real data (Stäubli TX-60 robot)
- Sequence 1 [1-DoF]: Video
- Sequence 2 [4-DoF]: Video
- Speed comparison in Sequence 1 and 2: Video
Real data (Catadioptric event camera and IMU)
- Sequence 3 [6-DoF]: Video

References

[1] Gyrevento: Event-based Omnidirectional Visual Gyroscope in a Manhattan World, D. Rodrigues da Costa, P. Vasseur, F. Morbidi, IEEE Robotics and Automation Letters, vol. 10, n. 3, pp. 2910-2917, March 2025 (to be presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hangzhou, China, October 19-25, 2025) [pdf]

[2] Vision Événementielle Omnidirectionnelle: Théorie et Applications, D. Rodrigues da Costa, P. Vasseur, F. Morbidi, in Journées Francophones des Jeunes Chercheurs en Vision par Ordinateur (ORASIS), Carqueiranne, France, May 22-26, 2023 [pdf]

Acknowledgements

This work was supported by AID (''Agence de l'Innovation de Défense''), through the research project EVENTO, ''Omnidirectional Event Cameras for High-Speed Robots'' (2021-2024) and by the French and Austrian National Research Agencies through the EVELOC ''Event-based Visual Localization'' project (ANR-23-CE33-0011)