Pose Estimation Based on ArUco Markers Using Event Cameras
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13871Keywords:
Event camera, Pose estimation, Computer vision, Fiducial markers, Visual localizationAbstract
Pose estimation is a fundamental technique in robotics and computer vision. However, systems based on conventional cameras suffer from limitations under fast motion, motion blur, and challenging lighting conditions. Event cameras have emerged as an alternative, capturing intensity changes asynchronously with high temporal resolution and a wide dynamic range, making them particularly suitable for dynamic scenes. This work presents a pose estimation method based on ArUco markers using only events. The method employs a marker detector specifically designed for event-based sensors, enabling marker identification without the need for image reconstruction. From the detected markers, the camera pose is estimated using a PnP approach based on 2D-3D correspondences. Experimental results on board a multirotor aerial robot flying indoors and outdoors show that the system is capable of providing accurate pose estimates at over 100 Hz on CPU.
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Copyright (c) 2026 J. Luna-Santamaría, R. Tapia, J.R. Martínez-de Dios, A. Ollero
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