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arclab-hku / Event_based_VO-VIO-SLAM

Our Works in Event-based VO/VIO/SLAM
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Slight flickering on 'Dataset for Stereo EVIO' dataset? #12

Closed gyubeomim closed 4 months ago

gyubeomim commented 4 months ago

Hello Authors,

I'm grateful for the opportunity to use your event-based project and dataset! While testing the 'Dataset for Stereo EVIO,' I noticed a slight flicker effect in the 'HKU aggressive small flip' and 'HKU aggressive walk' recordings when playing the bag files with the following options:

rosbag play hku_aggressive_small_flip.bag -s8 -r0.05 rosbag play hku_aggressive_small_flip.bag -s36 -r0.05 rosbag play hku_aggressive_walk.bag -s8 -r0.05 rosbag play hku_aggressive_walk.bag -s26 -r0.05

Could this flicker be caused by the VICON system's IR emitter or the room lighting conditions? Or is it simply a natural phenomenon of the DAVIS346?

Thank you in advance!

cpymaple commented 4 months ago

Hi, do you mean the below event streams show "flicker"? 2024-06-24 13-49-28 的屏幕截图

  1. We use the IR filter to avoid the effect of VICON or other radiation sources. For more details, you can also refer to our "ECMD: An Event-Centric Multisensory Driving Dataset for SLAM" Section III.A.1).
  2. We believe that this is related to the optical performance of the event camera and this is a natural phenomenon for DAVIS346.
gyubeomim commented 4 months ago

Yes. I've experienced

  1. slight flicker-like effect (large (event amount) --> small --> large for short durations (<10ms))
  2. A phenomenon in which events do not appear periodically during high-speed flipping. (I was able to notice this phenomenon because I used SAE representation)
  3. Above picture effect

I'll check out the paper you mentioned.

Thank you for the quick reply!