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A Dynamic Calibration Framework for Event-frame Stereo Camera (EFSC) System

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# A Dynamic Calibration Framework for Event-frame Stereo Camera (EFSC) System

**Abstract**: Our paper develops a dynamic calibration framework for the event-frame stereo camera system. 
In this framework, the first step is to complete the initial detection on a **circle-grid calibration pattern**, and **a sliding-window time matching method** is proposed to match the event-frame pairs. Then, a
refining method is devised for two cameras to get the accurate information of the pattern. Particularly, for the event camera, a
**patch-size motion compensation method** is designed to achieve time synchronization for two cameras and fit circles in an image of warped events. Finally, the
pose between two cameras is globally optimized by constructing **a pose-landmark graph** with two types of edges.

## Testing requirement
### Dependencies
- Ubuntu 18.04 && ROS Melodic
- [dv-processing](https://gitlab.com/inivation/dv/dv-ros) 1.4.0 for driving DAVIS346
- [OpenCV 4.3.0](https://opencv.org/blog/opencv-4-3-0)
- nanoflann
- [kd-tree](https://github.com/CallmeNezha/SimpleDBSCAN)
- Eigen3
- Ceres
- Sophus
- [G2O](https://github.com/RainerKuemmerle/g2o)

It is recommended that “dv-processing” is placed in the same ros workspace (e.g. /catkin_ws/src) as our code “EFSC_calib”. This is to provide custom ros messages “dv_ros_msgs”.

### Prototype
The prototype of the EFSC system contains a classical [DAVIS346](https://dv-processing.inivation.com/rel_1_7/installation.html) camera with 346X260 pixel resolution and an 848X480 color camera module of Intel RealSense [D435i](https://github.com/IntelRealSense/realsense-ros).

### Testing Dataset
It contains two testing setups: “parallel” setup and “hand-recorded” setup (The details can be found in the paper). 
These [testing datasets](https://drive.google.com/drive/folders/16oRh5kisJSCZ3ORHVq-pXif_0hAeUBZL?usp=sharing) includes: 
- 65cm, 75cm, 85cm; 
- hand1, hand2, hand3.

## Run the code
```
roslaunch efsc_ros_calib EFSC_calib.launch
```
Note that the **path** to the testing datasets should be changed.

## Citations

If you find this work useful for you, please cite:

```
@ARTICLE{CalibEFSC,
  author={Hu, Rui and Kogler, J{\"u}rgen and Gelautz, Margrit and Lin, Min and Xia, Yuanqing},
  journal={IEEE Robotics and Automation Letters}, 
  title={A Dynamic Calibration Framework for the Event-Frame Stereo Camera System}, 
  year={2024},
  volume={9},
  number={12},
  pages={11465-11472},
  doi={10.1109/LRA.2024.3491426}}
```

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