Fig. 1. Working principle of star sensor

Fig. 2. General extraction process of star point centroid

Fig. 3. Simplified circuit diagram of the event camera pixel

Fig. 4. Working principle of event camera

Fig. 5. Star map in the field of view and simulated star point event stream

Fig. 6. Algorithm flow

Fig. 7. Schematic of spatiotemporal neighborhood

Fig. 8. Schematic of intercepting time slice

Fig. 9. Denoising effect under different noise intensities

Fig. 10. EDP and ESNR under different noises

Fig. 11. Extraction error of centroid under different angular velocities

Fig. 12. Average error of centroid extraction under different angular velocities

Fig. 13. 3D view of the event stream output at low dynamics（<0.5°/s）

Fig. 14. Average error of centroid extraction under different noise intensities