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arXiv · 2605.07885

AERO-VIS: Asynchronous Event-based Real-time Onboard Visual-Inertial SLAM

Yannick Burkhardt·Sebastián Barbas Laina·Simon Boche·Leonard Freißmuth·Stefan Leutenegger
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Abstract

The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most event-based odometry methods still run at fixed rates, which simplifies system design but restricts latency and throughput. In this work, we present AERO-VIS, a stereo event-inertial SLAM system with an integrated, data-driven, robust, and performance-optimized keypoint detector. By decoupling event preprocessing from state estimation, our architecture operates asynchronously at the maximum rate supported by available hardware, dynamically adapting to downstream runtime demands and ensuring low-latency, real-time performance. When deploying AERO-VIS on a UAV, we achieve unprecedented accuracy in onboard event-based SLAM. These unique characteristics enable us to present the first purely event-based inertial SLAM system that demonstrates closed-loop UAV control and large-scale state estimation while relying solely on onboard compute. Videos of the experiments, source code, and additional results are available at https://ethz-mrl.github.io/AERO-VIS/.

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Yannick Burkhardt, Sebastián Barbas Laina, Simon Boche, Leonard Freißmuth, Stefan Leutenegger. 2026-09-15. AERO-VIS: Asynchronous Event-based Real-time Onboard Visual-Inertial SLAM. https://doi.org/10.1109/lra.2026.3726392

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