DeepAI
Log In Sign Up

Event-VPR: End-to-End Weakly Supervised Network Architecture for Event-based Visual Place Recognition

11/06/2020
by   Delei Kong, et al.
0

Traditional visual place recognition (VPR) methods generally use frame-based cameras, which is easy to fail due to dramatic illumination changes or fast motions. In this paper, we propose an end-to-end visual place recognition network for event cameras, which can achieve good place recognition performance in challenging environments. The key idea of the proposed algorithm is firstly to characterize the event streams with the EST voxel grid, then extract features using a convolution network, and finally aggregate features using an improved VLAD network to realize end-to-end visual place recognition using event streams. To verify the effectiveness of the proposed algorithm, we compare the proposed method with classical VPR methods on the event-based driving datasets (MVSEC, DDD17) and the synthetic datasets (Oxford RobotCar). Experimental results show that the proposed method can achieve much better performance in challenging scenarios. To our knowledge, this is the first end-to-end event-based VPR method. The accompanying source code is available at https://github.com/kongdelei/Event-VPR.

READ FULL TEXT

page 1

page 5

page 6

page 8

04/17/2019

End-to-End Learning of Representations for Asynchronous Event-Based Data

Event cameras are vision sensors that record asynchronous streams of per...
09/15/2019

OpenMPR: Recognize Places Using Multimodal Data for People with Visual Impairments

Place recognition plays a crucial role in navigational assistance, and i...
09/25/2022

PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features

Event cameras are motion-activated sensors that capture pixel-level illu...
10/27/2020

End-to-end trainable network for degraded license plate detection via vehicle-plate relation mining

License plate detection is the first and essential step of the license p...
11/17/2022

HARDVS: Revisiting Human Activity Recognition with Dynamic Vision Sensors

The main streams of human activity recognition (HAR) algorithms are deve...
11/14/2022

Supervised Fine-tuning Evaluation for Long-term Visual Place Recognition

In this paper, we present a comprehensive study on the utility of deep c...