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                <term xml:lang="en">Event-based camera</term>
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              <p>Les caméras événementielles sont des capteurs bioinspirés, activés par le mouvement, qui génèrent un flux d'événements asynchrones au lieu d'images à une fréquence fixe. Ces capteurs se sont avérés beaucoup plus performants que les caméras traditionnelles pour des mouvements très rapides et dans des conditions d'éclairage difficiles. Au cours de la dernière décennie, le flux d'événements produit par une caméra événementielle a été exploité dans de nombreuses tâches de perception 3D (estimation de la profondeur, suivi à 6 DDL, odométrie visuoinertielle, etc.). Dans cet article, nous proposons un prototype de pipeline stéréo événementiel pour la reconstruction 3D et le suivi d'une caméra en mouvement. Le module de reconstruction 3D repose sur la fusion DSI ("disparity space image"), tandis que le module de suivi utilise les surfaces temporelles comme champs de distance anisotropes, pour estimer la pose de la caméra. L'efficacité de la solution proposée a été démontrée à l'aide d'expérimentations conduites sur des jeux de données événementielles publics, enregistrés par une voiture dans un milieu urbain. Mots Clef Caméra événementielle, Estimation de profondeur par une caméra stéréo, Odométrie visuelle, Image de l'espace des disparités, Surface temporelle, Véhicule intelligent.</p>
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