Name
Title | ||
|---|---|---|
Event-VPR: End-to-End Weakly Supervised Deep Network Architecture for Visual Place Recognition Using Event-Based Vision Sensor |
Abstract | ||
|---|---|---|
Traditional visual place recognition (VPR) methods generally use frame-based cameras, which will easily fail due to rapid illumination changes or fast motion. To overcome this, we propose an end-to-end VPR network using event cameras, which can achieve good recognition performance in challenging environments (e.g., large-scale driving scenes). The key idea of the proposed algorithm is first to characterize the event streams with the EST voxel grid representation, then extract features using a deep residual network, and, finally, aggregate features using an improved VLAD network to realize end-to-end VPR using event streams. To verify the effectiveness of the proposed algorithm, on the event-based driving datasets (MVSEC, DDD17, and Brisbane-Event-VPR) and the synthetic event datasets (Oxford RobotCar and CARLA), we analyze the performance of our proposed method on large-scale driving sequences, including cross-weather, cross-season, and illumination changing scenes, and then, we compare the proposed method with the state-of-the-art event-based VPR method (Ensemble-Event-VPR) to prove its advantages. Experimental results show that the performance of the proposed method is better than that of the event-based ensemble scheme in challenging scenarios. To the best of our knowledge, for the VPR task, this is the first end-to-end weakly supervised deep network architecture that directly processes event stream data. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/TIM.2022.3168892 | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT |
Keywords | DocType | Volume |
Visualization, Cameras, Feature extraction, Robots, Training, Robot kinematics, Streaming media, Deep residual network, event camera, event spike tensor (EST), triplet ranking loss, visual place recognition (VPR) | Journal | 71 |
ISSN | Citations | PageRank |
0018-9456 | 0 | 0.34 |
References | Authors | |
0 | 7 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Delei Kong | 1 | 0 | 0.34 |
| Zheng Fang | 2 | 24 | 6.55 |
| Kuanxu Hou | 3 | 0 | 0.34 |
| Haojia Li | 4 | 0 | 0.34 |
| Junjie Jian | 5 | 0 | 0.34 |
| S. A. Coleman | 6 | 40 | 8.50 |
| Dermot Kerr | 7 | 0 | 0.34 |