A method for generating a motion-corrected image for visual-inertial odometry using an event camera rigidly connected to an inertial measurement unit, IMU, wherein the event camera comprises pixels arranged in an image plane that are configured to output events ( e) in presence of brightness changes in a scene at the time they occur, wherein each event ( e) comprises the time at which it is recorded and a position of the respective pixel that detected the brightness change, the method comprising the steps of: - Acquiring at least one set of events, wherein the at least one set comprises a plurality of subsequent events ( e); - Acquiring IMU data for the duration of the at least one set; - Generating a motion-corrected image from the at least one set of events ( e), wherein the motion-corrected image is obtained by assigning the position (x j) of each event ( e j) recorded at its corresponding event time ( t j) at an estimated camera pose ( T t j) to an adjusted event position (xj), wherein the adjusted event position ( x j ′) is obtained by determining the position of the event ( e j) for an estimated reference camera pose ( T t k f) at a reference time ( t k f), wherein the estimated camera pose ( T t j) at the event time ( t j) and the estimated reference camera pose ( T t k f) at the reference time ( t k f) are estimated by means of the IMU data, - wherein from the IMU data the estimated camera pose ( T t j) at the event time ( t j) is estimated by means of a homogenous transformation ( T t k f, t j) of the estimated reference camera pose ( T t k f) at the reference time ( t k f) to the estimated camera pose ( T t j) characterized in that for the determination of the adjusted event position ( x j ′) for the estimated reference camera pose ( T t k f), a projection method is executed comprising the steps of: - Estimating a depth information for each event position in a world reference frame for the estimated camera pose ( T t j), wherein the depth information is estimated from a plurality of three-dimensional positions of landmarks; - Providing a camera projection model ( π) that is configured to project a three-dimensional position onto a two-dimensional position in the image plane of the event camera; - Using the camera projection model ( π), the depth information and the transformation ( T t k f, t j) to project each event position recorded at the estimated camera pose at its corresponding event time from the image plane onto a three-dimensional position in the world reference frame and re-projecting the event position from the world reference frame onto the image plane at the estimated reference camera pose ( T t k f) at the reference time ( t k f). - Acquiring at least one set of events, wherein the at least one set comprises a plurality of subsequent events ( e); - Acquiring IMU data for the duration of the at least one set; - Generating a motion-corrected image from the at least one set of events ( e), wherein the motion-corrected image is obtained by assigning the position (x j) of each event ( e j) recorded at its corresponding event time ( t j) at an estimated camera pose ( T t j) to an adjusted event position (xj), wherein the adjusted event position ( x j ′) is obtained by determining the position of the event ( e j) for an estimated reference camera pose ( T t k f) at a reference time ( t k f), wherein the estimated camera pose ( T t j) at the event time ( t j) and the estimated reference camera pose ( T t k f) at the reference time ( t k f) are estimated by means of the IMU data, - wherein from the IMU data the estimated camera pose ( T t j) at the event time ( t j) is estimated by means of a homogenous transformation ( T t k f, t j) of the estimated reference camera pose ( T t k f) at the reference time ( t k f) to the estimated camera pose ( T t j) - Estimating a depth information for each event position in a world reference frame for the estimated camera pose ( T t j), wherein the depth information is estimated from a plurality of three-dimensional positions of landmarks; - Providing a camera projection model ( π) that is configured to project a three-dimensional position onto a two-dimensional position in the image plane of the event camera; - Using the camera projection model ( π), the depth information and the transformation ( T t k f, t j) to project each event position recorded at the estimated camera pose at its corresponding event time from the image plane onto a three-dimensional position in the world reference frame and re-projecting the event position from the world reference frame onto the image plane at the estimated reference camera pose ( T t k f) at the reference time ( t k f).