CoHelix: Event-Based Multi-Propeller Rotation-Rate Tracking with Shared Projective Geometry

CoHelix is a recursive event-camera filter that tracks rotation rates for four rigidly mounted, coplanar quadcopter propellers while jointly estimating a shared image homography. On moving-camera recordings, it achieved 62.9% lock—time within 2% of synchronized ground truth—versus 39.8% for HelixTrack and 22.2% for EventPro. On a separate target-follower dataset, it reached 95.9% lock using measurement settings selected on the moving-camera data and a fixed initial rate.