  This paper investigates two typical image-type representations for event
camera-based tracking: time surface (TS) and event map (EM). Based on the
original TS-based tracker, we make use of these two representations'
complementary strengths to develop an enhanced version. The proposed tracker
consists of a general strategy to evaluate the optimization problem's
degeneracy online and then switch proper representations. Both TS and EM are
motion- and scene-dependent, and thus it is important to figure out their
limitations in tracking. We develop six tracker variations and conduct a
thorough comparison of them on sequences covering various scenarios and motion
complexities. We release our implementations and detailed results to benefit
the research community on event cameras: https:
//github.com/gogojjh/ESVO_extension.

Computer Vision and Pattern Recognition;Robotics