---
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

[![Project Video](https://img.shields.io/badge/Video-Watch-red)](https://www.youtube.com/watch?v=8D9gtHqteEQ)[![Website](https://img.shields.io/badge/Website-Visit-blue)](https://gokulbnr.github.io/publication/dvs-biasing-vpr)[![GitHub](https://img.shields.io/badge/GitHub-Repository-blue)](https://github.com/gokulbnr/fast-slow-biased-event-vpr)[![Preprint](https://img.shields.io/badge/Preprint-Read-orange)](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).