Event cameras have microsecond-level temporal resolution and high dynamic range which make them more resilient to motion blur and poor illumination than standard frame-based cameras. Event-camera visual odometry (VO) pipelines maximize these benefits when they process the asynchronous event stream at the native temporal resolution. Continuous-time Gaussian process (GP) regression and a white-noise-on-acceleration (WNOA) prior can handle asynchronous measurements but result in a prohibitively large estimation state when applied naively. This paper presents a continuous-time event-camera stereo VO pipeline that maintains the native measurement times of asynchronous events while also running in real time. It reduces the estimation states to keytimes while maintaining full temporal resolution by interpolating measurements to their exact timestamps with a physically founded WNOA prior. This decouples the state size from the dense number of measurements without discarding their asynchronous nature. The real-time continuous-time VO pipeline is evaluated on the MVSEC and DSEC datasets. It provides estimates in real time that are more accurate than ES-PTAM, a state-of-the-art discrete estimator, in all but one of the tested sequences. The pipeline respectively provides estimates at 22 Hz and 6 Hz on MVSEC and DSEC and RMS relative errors of 0.46 cm and 0.038 degrees across all valid sequences, which were 11 and 15 times better than ES-PTAM, respectively.

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