uzh-rpg

Event-based Vision Resources. Community effort to collect knowledge on event-based vision technology (papers, workshops, datasets, code, videos, etc)

Semi-direct Visual Odometry

An Open Flexible Quadrotor Simulator

Toolbox for quantitative trajectory evaluation of VO/VIO

Repository Containing the Code associated with the Paper: "Learning High-Speed Flight in the Wild"

ESIM: an Open Event Camera Simulator

Quadrotor control framework developed by the Robotics and Perception Group

Agile flight done right!

Repository relating to the CVPR21 paper TimeLens: Event-based Video Frame Interpolation

Policy Search for Model Predictive Control with Application to Agile Drone Flight

Model Predictive Control for Quadrotors with extension to Perception-Aware MPC

This repository contains an implementation of REMODE (REgularized MOnocular Depth Estimation), as described in the paper.

CUDA Visual Library by RPG

Code for the paper Dronet: Learning to Fly by Driving

Code for the paper "High Speed and High Dynamic Range Video with an Event Camera" (T-PAMI, 2019).

Open source implementation of CVPR 2020 "Video to Events: Recycling Video Dataset for Event Cameras"

Implementation of "Recurrent Vision Transformers for Object Detection with Event Cameras". CVPR 2023

Open source code for "Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios" RA-L 2018

ROS packages for DVS

Code for the paper "Low Latency Automotive Vision with Event Cameras", published in Nature

Repository relating to "Reinforcement Learning Meets Visual Odometry" (ECCV, 2024).

Public code for "Data-Efficient Decentralized Visual SLAM"

This repo contains the code of the paper "Learned Inertial Odometry for Autonomous Drone Racing", RA-L 2023.

Example node to use the SVO Installation.

Tensorflow port of https://github.com/Relja/netvlad

Code for the project Deep Drone Acrobatics.

[RA-L 26] Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation

This repo contains the code of the paper "Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study", RA-L 2022.

Information Field for Perception-aware Planning

CVPRW 2021: How to calibrate your event camera

Visual-Inertial Model-based State and External Forces Estimator

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight

Implementation of EVO (RA-L 17)

Repository relating to "Data-driven Feature Tracking for Event Cameras" (CVPR, 2023, Award Candidate) and "Data-driven Feature Tracking for Event Cameras with and without Frames" (T-PAMI 2025)

Vision-based quadrotor fault-tolerant flight controller.

Repo for learning event representations

Learning Quadrotor Control From Visual Features Using Differentiable Simulation

Code for the paper "EMVS: Event-based Multi-View Stereo" (IJCV, 2018)

Vision-Kit provides some tools for your vision/robotics project.

Code for Learning Monocular Dense Depth from Events paper (3DV20)

A monocular pose estimation system based on infrared LEDs

SVO Pro with GPS

[CVPR'24 Spotlight] The official implementation of "State Space Models for Event Cameras"

Code for the paper "EKLT: Asynchronous, Photometric Feature Tracking using Events and Frames" (IJCV'19)

Code for the paper "Event-based Asynchronous Sparse Convolutional Networks" (ECCV, 2020).

This repository provides the code used to implement the framework to provide deep learning models with total uncertainty estimates as described in "A General Framework for Uncertainty Estimation...

Time-Optimal Planning for Quadrotor Waypoint Flight

This repository contains the active 3D reconstruction library described in the papers: "An Information Gain Formulation for Active Volumetric 3D Reconstruction" by Isler et al. (ICRA 2016) and "A...

Simulate a DAVIS camera from synthetic Blender scenes

Fast Event-based Corner Detection

FAST corner detector by Edward Rosten

Event-Based Angular Velocity Regression with Spiking Networks

A Framework for Zero-Shot Sim2Real Drone Racing

Code and datasets for the paper "Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction" (RA-L, 2021)

This is the official Pytorch implementation of the IROS 2024 paper Deep Visual Odometry with Events and Frames using Recurrent Asynchronous and Massively Parallel (RAMP) networks for Visual...

Code for the project Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Build bootstrapping for the Event-aided Direct Sparce Odometry (EDS)

Code for assembling and visualizing DSEC data for the detection task.

FPV Drone Racing VIO competition.

Repository relating to "ESS: Learning Event-based Semantic Segmentation from Still Images" (ECCV, 2022).

[CVPR Workshop 2025 - OpenSun3D] ForesightNav: Learning Scene Imagination for Efficient Exploration

Python scripts and functions to work with COLMAP

AutoTune: Controller Tuning for High-Speed Flight

Official implementation of "Dense Continuous-Time Optical Flow from Event Cameras"

Package for performing analysis on event-based feature trackers.

Matching Features Without Descriptors: Implicitly Matched Interest Points

Code for "Event-based Agile Object Catching with a Quadrupedal Robot", Forrai et al. ICRA'23

Official PyTorch implementation of the ICCV 2023 paper: From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detection.

Flexible Animation for Flying Robots

Official implementation of "Event-Aided Sharp Radiance Field Reconstruction for Fast-Flying Drones"

Repo to accompany the UZH FPV dataset

Patch for adding an omnidirectional camera model into Blender (Cycles)

Torque Control for the KUKA youBot Arm

Repository relating to "Contrastive Initial State Buffer for Reinforcement Learning" (ICRA, 2024).

Code accompanying the CVPR24 paper "Mitigating Motion Blur in Neural Radiance Fields with Events and Frames"