arXiv:2509.01968cs.CVcs.RO2025-09被引 6

融合多重建方法与特征提取器,提升事件相机在光照变化下的定位鲁棒性。

Ensemble-Based Event Camera Place Recognition Under Varying Illumination

  • 通过组合不同帧重建、特征提取和时间分辨率结果实现多模态集成
  • 在昼夜转换场景下召回率提升57%,长距离驾驶数据无采样验证
  • 适用于复杂光照下长期自动驾驶定位,代码开源便于复现

相比传统相机,事件相机具备高动态范围与低延迟优势,在快速运动和极端光照条件下更具鲁棒性。尽管事件相机在视觉位置识别(VPR)中的潜力已被证实,但在剧烈光照变化下的鲁棒性仍是一个开放问题。本文提出一种基于集成的事件相机位置识别方法,融合多种事件到帧重建方式、VPR特征提取器及时间分辨率的序列匹配结果。不同于以往仅依赖时间分辨率的集成方法,本方法通过更广泛的融合策略,在不同光照条件(如下午、日落、夜间)下显著提升鲁棒性,于昼夜过渡场景中实现召回率@1相对提升57%。我们在两个长达8公里/次的长期驾驶数据集上评估该方法,未使用度量子采样,保留了速度与停顿时间自然变化对事件密度的影响。同时,我们系统分析了关键设计选择,包括分箱策略、极性处理、重建方法与特征提取器,识别出影响性能的核心组件。此外,我们改进了标准序列匹配框架,提升了长序列长度下的表现。为促进后续研究,我们将公开代码库与基准测试框架。

原文摘要 · Abstract (English)

Compared to conventional cameras, event cameras provide a high dynamic range and low latency, offering greater robustness to rapid motion and challenging lighting conditions. Although the potential of event cameras for visual place recognition (VPR) has been established, developing robust VPR frameworks under severe illumination changes remains an open research problem. In this paper, we introduce an ensemble-based approach to event camera place recognition that combines sequence-matched results from multiple event-to-frame reconstructions, VPR feature extractors, and temporal resolutions. Unlike previous event-based ensemble methods, which only utilise temporal resolution, our broader fusion strategy delivers significantly improved robustness under varied lighting conditions (e.g., afternoon, sunset, night), achieving a 57% relative improvement in Recall@1 across day-night transitions. We evaluate our approach on two long-term driving datasets (with 8 km per traverse) without metric subsampling, thereby preserving natural variations in speed and stop duration that influence event density. We also conduct a comprehensive analysis of key design choices, including binning strategies, polarity handling, reconstruction methods, and feature extractors, to identify the most critical components for robust performance. Additionally, we propose a modification to the standard sequence matching framework that enhances performance at longer sequence lengths. To facilitate future research, we will release our codebase and benchmarking framework.

事件相机位置识别光照变化集成学习

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