EVENT-BASED VEHICLE POSE ESTIMATION USING MONOCHROMATIC IMAGING

A computer-implemented method for estimating a vehicle pose for a moving vehicle is described includes obtaining, via a processor disposed in communication with a monochromatic camera, a monochromatic image of an operating environment, and detecting in the monochromatic image an event patch showing a plurality of pixels associated with the moving vehicle. The method further includes generating an optical flow map using an unsupervised optical flow prediction network to predict an optical flow for each pixel in the monochromatic image. The optical flow map includes a Red-Green-Blue (RGB) patch having color information associated with a velocity for the moving vehicle. The system generates a pixel-level event mask that includes the RGB patch, and estimates the vehicle pose for the moving vehicle.