Event cameras in motion tend to detect object boundaries or texture edges, which produce lines of brightness changes, especially in man-made environments. While lines can constitute a robust intermediate representation that is consistently observed, the sparse nature of lines may lead to drastic deterioration with minor estimation errors. Only a few previous works, often accompanied by additional sensors, utilize lines to compensate for the severe domain discrepancies of event sensors along with unpredictable noise characteristics. We propose a method that can stably extract tracks of varying appearances of lines using a clever algorithmic process that observes multiple representations from various time slices of events, compensating for potential adversaries within the event data. We then propose geometric cost functions that can refine the 3D line maps and camera poses, eliminating projective distortions and depth ambiguities. The 3D line maps are highly compact and can be equipped with our proposed cost function, which can be adapted for any observations that can detect and extract line structures or projections of them, including 3D point cloud maps or image observations. We demonstrate that our formulation is powerful enough to exhibit a significant performance boost in event-based mapping and pose refinement across diverse datasets, and can be flexibly applied to multimodal scenarios. Our results confirm that the proposed line-based formulation is a robust and effective approach for the practical deployment of event-based perceptual modules. Project page

Aqueous rechargeable Zn batteries (AZBs) are considered to be promising next-generation battery systems. However, the growth of Zn dendrites and water-induced side reactions have hindered their practical application, especially with regard to long-term cyclability. To address these challenges, we introduce a supramolecular metal-organic framework (SMOF) coating layer using an α-cyclodextrin-based MOF (α-CD-MOF-K) and a polymeric binder. The plate-like α-CD-MOF-K particles, combined with the polymeric binder create dense and homogeneous Zn²⁺ ion conductive pore channels that can vertically transport Zn²⁺ ions through the cavity while restricting the contact of water molecules. Molecular dynamics (MD) simulation verifies that Zn²⁺ ions can reversibly migrate through the pores of α-CD-MOF-K by partial dehydration. The uniform Zn deposition/dissolution promotes a smooth solid-electrolyte interface layer on the Zn metal anode and effectively suppresses side reactions with free water molecules. The α-CD-MOF-K@Zn symmetric cell exhibits stable cycling and a small polarization voltage of 70 mV for 800 h at 5 mA cm^-2, and the α-CD-MOF-K@Zn|α-MnO₂ full cell shows only 0.12% capacity decay per cycle at a rate of 1 A g^-1.