ワープ速度への準備：イベントカメラによるサブミリ秒視覚位置認識
Prepare for Warp Speed: Sub-millisecond Visual Place Recognition Using Event Cameras
イベントカメラのサブミリ秒スライスからアクティブピクセル位置を二値フレームで符号化し、ビット演算で高速照合する軽量な視覚位置認識システムを提案。既存手法より大幅に高精度・低遅延を実現。
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著者: Vignesh Ramanathan, Michael Milford, Tobias Fischer
分類: cs.RO
原文アブストラクト
Visual Place Recognition (VPR) enables systems to identify previously visited locations within a map, a fundamental task for autonomous navigation. Prior works have developed VPR solutions using event cameras, which asynchronously measure per-pixel brightness changes with microsecond temporal resolution. However, these approaches rely on dense representations of the inherently sparse camera output and require tens to hundreds of milliseconds of event data to predict a place. Here, we break this paradigm with Flash, a lightweight VPR system that predicts places using sub-millisecond slices of event data. Our method is based on the observation that active pixel locations provide strong discriminative features for VPR. Flash encodes these active pixel locations using efficient binary frames and computes similarities via fast bitwise operations, which are then normalized based on the relative event activity in the query and reference frames. Flash improves Recall@1 for sub-millisecond VPR over existing baselines by 11.33x on the indoor QCR-Event-Dataset and 5.92x on the 8 km Brisbane-Event-VPR dataset. Moreover, our approach reduces the duration for which the robot must operate without awareness of its position, as evidenced by a localization latency metric we term Time to Correct Match (TCM). To the best of our knowledge, this is the first work to demonstrate sub-millisecond VPR using event cameras.
関連論文
- イベントカメラによる多視点ジオローカリゼーションVPR/イベントカメラ
