Difference-aware filtering for event camera simulation

1Dartmouth College

In Computer Graphics Forum (Proceedings of EGSR), 2026

Teaser
Comparison of event rendering results for the Cornell-Bunny scene, where the camera moves to the right, under a roughly equal-time budget (~5 ms). The figure visualizes brightness (log-intensity) changes and resulting event images, with MAPE and false event rates shown in the upper-right corner of each result. Although existing denoising methods produce visually clean primal RGB images, temporal differencing amplifies residual temporal instability and generates numerous false events. The proposed Event-SVGF reduces spurious events while preserving accurate event responses through correlated sampling and difference-aware denoising.
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Abstract

We present EventSVGF, an event camera rendering framework based on spatiotemporal variance-guided filtering (SVGF) [SKW*17], designed to achieve high temporal accuracy especially in high-frequency regions, which is critical for faithful event simulation. Unlike conventional rendering, event cameras measure temporal changes in brightness (log-intensity), requiring accurate estimation of per-pixel, frame-to-frame differences. However, naively computing temporal differences from primal-domain RGB images leads to severe noise, as existing denoising methods are designed for primal signals rather than their differences. Our key contribution is a method that directly denoises the pixel-wise temporal difference signal using correlated sampling, formulated as a difference-aware extension of the SVGF pipeline, termed EventSVGF. EventSVGF incorporates a novel edge-stopping function, an adapted temporal accumulation scheme, and an albedo demodulation strategy, all tailored for accurate event camera simulation. Our method achieves stable results at low sampling rates (2 spp), whereas existing approaches typically require significantly higher sampling budgets (32–512 spp). We demonstrate EventSVGF on dynamic scenes, showing improved accuracy and high-frequency temporal stability in event simulation compared to prior works.

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Acknowledgements

We thank Kehan Xu and Quinton Qu for their detailed feedback on the manuscript. This work was supported in part by the National Science Foundation under Awards No. 2403122 and 2326904.

Cite

Juhyeon Kim, Wojciech Jarosz, Adithya Pediredla. Difference-aware filtering for event camera simulation. Computer Graphics Forum (Proceedings of EGSR), 45(4), July 2026. 
@article{kim26difference-aware,
    author    = {Kim, Juhyeon and Jarosz, Wojciech and Pediredla, Adithya},
    title     = {Difference-aware Filtering for Event Camera Simulation},
    journal   = {Computer Graphics Forum (Proceedings of EGSR)},
    day       = {1},
    month     = jul,
    volume    = {45},
    number    = {4},
    doi       = {10/rngt},
    year      = {2026},
    publisher = {The Eurographics Association and John Wiley \\& Sons Ltd.}
}
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