The invention relates a method for generating a motion-corrected image for visual-inertial odometry comprising 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 in presence of brightness changes in a scene at the time they occur, wherein each event 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 (S), wherein the at least one set (S) comprises a plurality of subsequent events (e); Acquiring IMU data (D) for the duration of the at least one set (S); Generating a motion-corrected image from the at least one set (S) of events (e), wherein the motion-corrected image is obtained by assigning the position (xj) of each event (ej) recorded at its corresponding event time (tj) at an estimated event camera pose (Ttj) to an adjusted event position (x′j), wherein the adjusted event position (x′j) is obtained by determining the position of the event (ej) for an estimated reference camera pose (Ttfk) at a reference time (tfk), wherein the estimated camera pose (Ttj) at the event time (tj) and the reference camera pose (Ttfk) at the reference time (tfk) are estimated by means of the IMU data (D).