  Motion and dynamic environments, especially under challenging lighting
conditions, are still an open issue for robust robotic applications. In this
paper, we propose an end-to-end pipeline for real-time, low latency, 6
degrees-of-freedom pose estimation of fiducial markers. Instead of achieving a
pose estimation through a conventional frame-based approach, we employ the
high-speed abilities of event-based sensors to directly refine the spatial
transformation, using consecutive events. Furthermore, we introduce a novel
two-way verification process for detecting tracking errors by backtracking the
estimated pose, allowing us to evaluate the quality of our tracking. This
approach allows us to achieve pose estimation at a rate up to 156~kHz, while
only relying on CPU resources. The average end-to-end latency of our method is
3~ms. Experimental results demonstrate outstanding potential for robotic tasks,
such as visual servoing in fast action-perception loops.
