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---
datasets:
- gokulbnr/QCR-Fast-Slow-Event-Dataset
language:
- en
tags:
- robotics
arXiv:
- https://arxiv.org/abs/2403.16425
license: mit
---
# Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Cameras
[](https://www.youtube.com/watch?v=8D9gtHqteEQ)[](https://gokulbnr.github.io/publication/dvs-biasing-vpr)[](https://github.com/gokulbnr/fast-slow-biased-event-vpr)[](https://arxiv.org/abs/2403.16425)
Welcome to the official **QCR-Fast-Slow-Event-Dataset** dataset repository attached to the paper [**Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Cameras**](https://arxiv.org/abs/2403.16425), to be presented at the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024). This work introduces feedback control algorithms that dynamically change bias parameters for event-cameras to stabilize event-rate in an online manner. The work reports improvements in visual place recognition performances across variations in environment brightness conditions, validated through comprehensive real-time evaluations using a new [QCR-Fast-and-Slow-Event-Dataset](https://huggingface.co/datasets/gokulbnr/QCR-Fast-Slow-Event-Dataset).
## File Structure
QCR-Fast-Slow-Event-Dataset
├── ablation_study_components.tar.gz
├── ablation_study_slow_changes_freq.tar.gz
├── grid_search
│ ├── aedats
│ │ ├── +0+0+0_h_qry.aedat.tar.gz
│ │ ├── ...
│ │ ├── ... (Raw AEDAT2.0's from 108 traversals)
│ │ ├── ...
│ │ └── -2-2-2_l_ref.aedat.tar.gz
│ └── bags.tar.gz
├── main_experiments
│ ├── default_params.tar.gz
│ ├── Fast_Slow.tar.gz
│ ├── PxBw.tar.gz
│ ├── PxTh.tar.gz
│ └── RfPr.tar.gz
└── README.md
More information on how to use the dataset can be found in the official codebase repository on [GitHub](https://github.com/gokulbnr/fast-slow-biased-event-vpr).
### Cite us at
[Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Cameras](https://arxiv.org/abs/2403.16425)
```
@inproceedings{nair2024enhancing,
title={Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Cameras},
author={Nair, Gokul B and Milford, Michael and Fischer, Tobias},
booktitle={Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2024}
}
```
## License
This dataset is licensed under the [MIT License](https://opensource.org/licenses/MIT). |