arXiv:2507.06459cs.CVcs.AI2025-07被引 2

用事件自编码器实现高速低延迟视觉感知,适合嵌入式实时应用。

EA: An Event Autoencoder for High-Speed Vision Sensing

  • 设计轻量级事件自编码器,通过自适应阈值压缩事件数据
  • 在SEFD数据集上精度接近YOLO-v4,参数量少35.5倍
  • 部署于树莓派和Jetson Nano,帧率最高达44.8 FPS,性能提升87.84倍

高速视觉感知对机器人、自动驾驶和工业自动化等实时场景至关重要。传统帧基视觉系统存在运动模糊、高延迟和冗余处理问题,限制了其在动态环境中的表现。事件相机通过像素级异步亮度变化捕捉信息,虽具潜力但事件流稀疏且噪声大,影响目标检测效果。为此,我们提出一种事件自编码器架构,高效压缩并重建事件数据,同时保留关键时空特征。模型采用卷积编码,结合自适应阈值选择与轻量分类器,提升识别准确率并降低计算开销。在Smart Event Face Dataset (SEFD) 上的实验表明,该方法精度与YOLO-v4相当,参数量减少高达35.5倍。在Raspberry Pi 4B和NVIDIA Jetson Nano等嵌入式平台上的实现显示,帧率可达8 FPS至44.8 FPS,分类器速度比当前最优方案快87.84倍,显著提升事件视觉性能,适用于低功耗、高实时性的边缘计算场景。

原文摘要 · Abstract (English)

High-speed vision sensing is essential for real-time perception in applications such as robotics, autonomous vehicles, and industrial automation. Traditional frame-based vision systems suffer from motion blur, high latency, and redundant data processing, limiting their performance in dynamic environments. Event cameras, which capture asynchronous brightness changes at the pixel level, offer a promising alternative but pose challenges in object detection due to sparse and noisy event streams. To address this, we propose an event autoencoder architecture that efficiently compresses and reconstructs event data while preserving critical spatial and temporal features. The proposed model employs convolutional encoding and incorporates adaptive threshold selection and a lightweight classifier to enhance recognition accuracy while reducing computational complexity. Experimental results on the existing Smart Event Face Dataset (SEFD) demonstrate that our approach achieves comparable accuracy to the YOLO-v4 model while utilizing up to $35.5\times$ fewer parameters. Implementations on embedded platforms, including Raspberry Pi 4B and NVIDIA Jetson Nano, show high frame rates ranging from 8 FPS up to 44.8 FPS. The proposed classifier exhibits up to 87.84x better FPS than the state-of-the-art and significantly improves event-based vision performance, making it ideal for low-power, high-speed applications in real-time edge computing.

事件相机边缘计算轻量化模型实时感知

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