NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban Environments

Understand

Visual place recognition (VPR) enables autonomous robots to identify previously visited locations, which contributes to tasks like simultaneous localization and mapping (SLAM).

• VPR faces challenges such as accurate image neighbor retrieval and appearance change in scenery.
• Event cameras, also known as dynamic vision sensors, are a new sensor modality for VPR and offer a promising solution to the challenges with their unique attributes: high temporal resolution (1MHz clock), ultra-low latency (in {\mu}s), and high dynamic range (>120dB).
• These attributes make event cameras less susceptible to motion blur and more robust in variable lighting conditions, making them suitable for addressing VPR challenges.