I´m trying to replicate the ego-motion compensation done by the article "Dynamic obstacle avoidance for quadrotors with event cameras". I have the Imu data (only 3 angular velocities rad/sec: gx, gy, gz) and the events data (timestamp, coordinate x, coordinate y, polarity).
As can be seen in the first paragraph of the image, they warped the events by w=(ti-t0). My Question is: What is the equation to warped the events in the image plane?
Thank you!
