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Event-based-Vision-for-Robotics

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[IEEE SPM 2020] Collect some papers about event-based Autonomous Driving & Event-based Robotic-Grasping.

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# Awsome-Event-based-Vision-for-Robotics (Autonomous-Driving & Robotic-Grasping)

Collect some papers about event-based Autonomous Driving & Event-based Robotic-Grasping.

If you find some overlooked papers, please open issues or pull requests (recommended).

## Papers

### Survey papers

| Year | Paper | Publication | Code/Webpage |
|------|-------|-------------|--------------|
| 2020 |Event-based Vision: A Survey|[TPAMI](http://rpg.ifi.uzh.ch/docs/EventVisionSurvey.pdf)| [Code](https://github.com/uzh-rpg/event-based_vision_resources) |
| 2020 |Event-Based Neuromorphic Vision for Autonomous Driving: A Paradigm Shift for Bio-Inspired Visual Sensing and Perception|[IEEE Signal Processing Magazine](https://doi.org/10.1109/MSP.2020.2985815)| [Code](https://github.com/HuCaoFighting/Event-based-Vision-for-Robotics)  |

### Datasets
#### Datasets about Autonomous Driving

| Year | Paper | Publication | Code/Webpage |
|------|-------|-------------|--------------|
| 2017 | DDD17: End-To-End DAVIS Driving Dataset | [Int. Conf. Machine Learning](https://www.openreview.net/pdf?id=HkehpKVG-) | [Dataset](http://sensors.ini.uzh.ch/databases.html) |
| 2018 | N-CARS Dataset: A large real-world event-based dataset for car classification. | [CVPR](http://www.prophesee.ai/dataset-n-cars/) | [Link]([CVPR](http://www.prophesee.ai/dataset-n-cars/)) |
| 2018 | The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception | [IEEE Robotics and Automation Letters (RA-L)](https://doi.org/10.1109/LRA.2018.2800793) | [Dataset](https://daniilidis-group.github.io/mvsec/) , [YouTube](https://youtu.be/9FaUvvzaHW8).|
| 2019 | DET: A High-resolution DVS Dataset for Lane Extraction | [CVPRW](http://openaccess.thecvf.com/content_CVPRW_2019/papers/EventVision/Cheng_DET_A_High-Resolution_DVS_Dataset_for_Lane_Extraction_CVPRW_2019_paper.pdf) | [Code](https://spritea.github.io/DET/) |
| 2020 | NeuroIV: Neuromorphic Vision Meets Intelligent Vehicle Towards Safe Driving With a New Database and Baseline Evaluations | [TITS](https://doi.org/10.1109/TITS.2020.3022921) | - |
| 2020 | A Large Scale Event-based Detection Dataset for Automotive | [arXiv](https://arxiv.org/abs/2001.08499) | [Code](https://github.com/prophesee-ai/prophesee-automotive-dataset-toolbox),[1Mpx Detection Dataset](https://www.prophesee.ai/2020/11/24/automotive-megapixel-event-based-dataset/) |
| 2020 | DDD20 End-to-End Event Camera Driving Dataset: Fusing Frames and Events with Deep Learning for Improved Steering Prediction | [ITSC](https://arxiv.org/abs/2005.08605) | [Dataset](https://sites.google.com/view/davis-driving-dataset-2020/home) , [More datasets](http://sensors.ini.uzh.ch/databases.html)|
| 2021 | TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset | [IROS](https://vision.in.tum.de/data/datasets/visual-inertial-event-dataset) | - |
| 2021 | DSEC: A Stereo Event Camera Dataset for Driving Scenarios | [IEEE Robotics and Automation Letters (RA-L)](https://doi.org/10.1109/LRA.2021.3068942) | [Dataset](http://rpg.ifi.uzh.ch/dsec.html), [Code](https://github.com/uzh-rpg/DSEC) , [Video](https://youtu.be/W4yW78y4F7A)|
| 2022 | PKU-DAVIS-SOD Dataset by National Engineering Research Center for Visual Technology | [Dataset](https://www.pkuml.org/research/pku-davis-sod-dataset.html) | - |

#### Datasets about Robotic Grasping

| Year | Paper | Publication | Code/Webpage |
|------|-------|-------------|--------------|
| 2019 | NeuroGrasp: Multimodal Neural Network With Euler Region Regression for Neuromorphic Vision-Based Grasp Pose Estimation | [IEEE Transactions on Instrumentation and Measurement (TIM)](https://ieeexplore.ieee.org/abstract/document/9787342) | [Dataset](https://github.com/HuCaoFighting/DVS-GraspingDataSet) |
| 2021 | Event-Based Robotic Grasping Detection With Neuromorphic Vision Sensor and Event-Grasping Dataset | [Frontiers in Neurorobotics](https://www.frontiersin.org/articles/10.3389/fnbot.2020.00051/full) | [Dataset](https://github.com/HuCaoFighting/DVS-GraspingDataSet) |

### Papers about Object Detection in Autonomous Driving
| Year | Paper | Publication | Code/Webpage |
|------|-------|-------------|--------------|
| 2019 | Multi-Cue Event Information Fusion for Pedestrian Detection With Neuromorphic Vision Sensors | [Front. Neurorobot](https://doi.org/10.3389/fnbot.2019.00010) | - |
| 2019 | [Mixed Frame-/Event-Driven Fast Pedestrian Detection | [ICRA](https://doi.org/10.1109/ICRA.2019.8793924) | - |
| 2020 | Learning to Detect Objects with a 1 Megapixel Event Camera  | [NeurIPS](https://papers.nips.cc/paper/2020/file/c213877427b46fa96cff6c39e837ccee-Paper.pdf) |  |
| 2021 | N-ImageNet: Towards Robust, Fine-Grained Object Recognition with Event Cameras | [ICCV](https://openaccess.thecvf.com/content/ICCV2021/papers/Kim_N-ImageNet_Towards_Robust_Fine-Grained_Object_Recognition_With_Event_Cameras_ICCV_2021_paper.pdf) | [Suppl. Mat.](https://openaccess.thecvf.com/content/ICCV2021/supplemental/Kim_N-ImageNet_Towards_Robust_ICCV_2021_supplemental.pdf), [Github Page](https://github.com/82magnolia/n_imagenet), [N-ImageNet Dataset](https://www.dropbox.com/sh/47we7z2gff5barh/AADU4GyWnzLFzMzBDjLP00baa?dl=0). |
| 2021 | Fusion-based Feature Attention Gate Component for Vehicle Detection based on Event Camera | [IEEE Sensors Journal](https://ieeexplore.ieee.org/abstract/document/9546775) |  |
| 2022 | Fusing Asynchronous Event and Synchronization Frame Data with Multi-layer Feature Attention Guided Filtering | [Research Square](https://doi.org/10.21203/rs.3.rs-1770323/v1) |  |
| 2022 | Fusing Event-based and RGB camera for Robust Object Detection in Adverse Conditions | [ICRA](https://ieeexplore.ieee.org/document/9812059) |  |
| 2022 | Retinomorphic Object Detection in Asynchronous Visual Streams | [Proceedings of the AAAI Conference on Artificial Intelligence](https://www.aaai.org/AAAI22Papers/AAAI-1396.LiJ.pdf) |  |
| 2022 | LDNet: End-to-End Lane Marking Detection Approach Using a Dynamic Vision Sensor | [TITS](https://ieeexplore.ieee.org/document/9518365) |  |
| 2022 | Asynchronous Spatio-Temporal Memory Network for Continuous Event-Based Object Detection | [IIEEE Transactions on Image Processing](https://ieeexplore.ieee.org/document/9749022) |  |
| 2022 | Traffic Sign Detection With Event Cameras and DCNN | [SPA](https://ieeexplore.ieee.org/abstract/document/9927864) |  |
| 2023 | GET: Group Event Transformer for Event-Based Vision | [ICCV](https://arxiv.org/abs/2310.02642) | [Code](https://github.com/Peterande/GET-Group-Event-Transformer) |
| 2023 | Joint Intensity and Event Framework for Vehicle Detection in Degraded Conditions | [ICTIS](https://ieeexplore.ieee.org/abstract/document/10243687) |  |
| 2023 | RGB-Event Fusion for Moving Object Detection in Autonomous Driving | [ICRA](https://ieeexplore.ieee.org/abstract/document/10161563) | [Code](https://github.com/ZZY-Zhou/RENet) |
| 2023 | Recurrent Vision Transformers for Object Detection with Event Cameras | [CVPR](https://ieeexplore.ieee.org/document/10204090) | [Code](https://github.com/uzh-rpg/RVT),  [YouTube](https://www.youtube.com/watch?v=xZ-pNwHxHgY). [Gen 1 Dataset] |
| 2023 | SODFormer: Streaming Object Detection with Transformer Using Events and Frames | [IEEE Transactions on Pattern Analysis and Machine Intelligence](https://arxiv.org/abs/2308.04047) | [code](https://github.com/dianzl/SODFormer) |

### Papers about Semantic Segmentation in Autonomous Driving
| Year | Paper | Publication | Code/Webpage |
|------|-------|-------------|--------------|
| 2019 | EV-SegNet: Semantic Segmentation for Event-based Cameras | [CVPRW](http://openaccess.thecvf.com/content_CVPRW_2019/papers/EventVision/Alonso_EV-SegNet_Semantic_Segmentation_for_Event-Based_Cameras_CVPRW_2019_paper.pdf) | [PDF](https://arxiv.org/pdf/1811.12039.pdf). [Project page](https://github.com/Shathe/Ev-SegNet). [Video pitch](https://youtu.be/AuXN7y3bMqo) |
| 2021 | ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data | [IROS](https://ieeexplore.ieee.org/document/9636109) |  |
| 2021 | Moving Object Detection for Event-based vision using Graph Spectral Clustering | [ICCVW](https://ieeexplore.ieee.org/document/9607843) | [Code](https://github.com/mondalanindya/ICCVW2021_GSCEventMOD) |
| 2022 | ESS: Learning Event-based Semantic Segmentation from Still Images | [ECCV](https://https://arxiv.org/abs/2203.10016) | [Code](https://github.com/uzh-rpg/ess) |
| 2022 | Exploring Event-driven Dynamic Context for Accident Scene Segmentation | [IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS](https://arxiv.org/abs/2112.05006) | [Code](https://github.com/jamycheung/ISSAFE) |
| 2023 | Event-Based Semantic Segmentation With Posterior Attention | [IEEE TRANSACTIONS ON IMAGE PROCESSING](https://ieeexplore.ieee.org/document/10058930) | [Code](https://github.com/zexiJia/EvSegFormer) |
| 2023 | CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation With Transformers | [IEEE Transactions on Intelligent Transportation Systems](https://ieeexplore.ieee.org/abstract/document/10231003) | [Code](https://github.com/huaaaliu/RGBX_Semantic_Segmentation?utm_source=catalyzex.com) |
| 2024 | EISNet: A Multi-Modal Fusion Network for Semantic Segmentation with Events and Images | [IEEE Transactions on Multimedia](https://ieeexplore.ieee.org/document/10477577) | [Code](https://github.com/bochenxie/EISNet) |

### Papers about Autonomous Driving
| Year | Paper | Publication | Code/Webpage |
|------|-------|-------------|--------------|
| 2018 | Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars | [CVPR](http://openaccess.thecvf.com/content_cvpr_2018/papers/Maqueda_Event-Based_Vision_Meets_CVPR_2018_paper.pdf) | [PDF](http://rpg.ifi.uzh.ch/docs/CVPR18_Maqueda.pdf), [Poster](http://rpg.ifi.uzh.ch/docs/CVPR18_Maqueda_poster.pdf),  [YouTube](https://youtu.be/_r_bsjkJTHA). |
| 2019 | Event-Based Vision Enhanced: A Joint Detection Framework in Autonomous Driving | [ICME](https://doi.org/10.1109/ICME.2019.00242) | - |
| 2019 | Live Demonstration: Unsupervised Event-Based Learning of Optical Flow, Depth and Egomotion | [CVPRW](https://ieeexplore.ieee.org/document/9025423) | [Project page](https://inivation.com/dvs/)  |
| 2019 | Slasher: Stadium racer car for event camera end-to-end learning autonomous driving experiments | [AICAS](https://ieeexplore.ieee.org/document/8771520) | [Code](https://github.com/AutoRally/), [Project page](https://sites.google.com/view/slasher-robot-car/home). |
| 2020 | Learning Monocular Dense Depth from Events  | [IEEE Int. Conf. on 3D Vision (3DV)](https://arxiv.org/pdf/2010.08350.pdf) | [PDF](http://rpg.ifi.uzh.ch/docs/3DV20_Hidalgo.pdf), [YouTube](https://youtu.be/Ne1KyyXd3_A), [Code](https://github.com/uzh-rpg/rpg_e2depth), [Project Page](http://rpg.ifi.uzh.ch/e2depth). |
| 2020 | EDDD: Event-based drowsiness driving detection through facial motion analysis with neuromorphic vision sensor | [IEEE Sensors Journal](https://doi.org/10.1109/JSEN.2020.2973049) |  |
| 2020 | Learning to Exploit Multiple Vision Modalities by Using Grafted Networks | [ECCV](https://www.ecva.net/papers/eccv_2020/papers_ECCV/papers/123610086.pdf) |  |
| 2020 | NeuroIV: Neuromorphic Vision Meets Intelligent Vehicle Towards Safe Driving With a New Database and Baseline Evaluations | [TITS](https://doi.org/10.1109/TITS.2020.3022921) |  |
| 2021 | Combining Events and Frames Using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction | [IEEE Robotics and Automation Letters(RA-L)](https://arxiv.org/pdf/2010.08350.pdf)] | [PDF](http://rpg.ifi.uzh.ch/docs/RAL21_Gehrig.pdf), [Code](http://rpg.ifi.uzh.ch/rpg_ramnet), [Project Page](http://rpg.ifi.uzh.ch/RAMNet.html). |
| 2021 | EvDistill: Asynchronous Events To End-Task Learning via Bidirectional Reconstruction-Guided Cross-Modal Knowledge Distillation | [CVPR](https://openaccess.thecvf.com/content/CVPR2021/papers/Wang_EvDistill_Asynchronous_Events_To_End-Task_Learning_via_Bidirectional_Reconstruction-Guided_Cross-Modal_CVPR_2021_paper.pdf) | [Code](https://github.com/addisonwang2013/evdistill). |
| 2022 | Event-Based Fusion for Motion Deblurring with Cross-modal Attention | [ECCV](https://doi.org/10.48550/arXiv.2112.00167) | [code](https://github.com/AHupuJR/EFNet) |
| 2023 | Multi-Modal Fusion for Sensorimotor Coordination in Steering Angle Prediction | [Engineering Applications of Artificial Intelligence](https://arxiv.org/abs/2202.05500)) | [code](https://github.com/azamshoaib/drfuser) |
| 2023 | Frame-Event Alignment and Fusion Network for High Frame Rate Tracking | [CVPR](https://openaccess.thecvf.com/content/CVPR2023/papers/Zhang_Frame-Event_Alignment_and_Fusion_Network_for_High_Frame_Rate_Tracking_CVPR_2023_paper.pdf) | [code](https://github.com/Jee-King/AFNet) |
| 2024 | FE-DeTr: Keypoint Detection and Tracking in Low-quality Image Frames with Events | [ICRA](https://arxiv.org/abs/2403.11662) | [code](https://github.com/yuyangpoi/FE-DeTr/tree/main) |

### Papers about Robotic Grasping
| Year | Paper | Publication | Code/Webpage |
|------|-------|-------------|--------------|
| 2021 | Event-Based Robotic Grasping Detection With Neuromorphic Vision Sensor and Event-Grasping Dataset | [Frontiers in Neurorobotics](https://www.frontiersin.org/articles/10.3389/fnbot.2020.00051/full) | [Dataset](https://github.com/HuCaoFighting/DVS-GraspingDataSet). |
| 2021 | NeuroGrasp: Multimodal Neural Network With Euler Region Regression for Neuromorphic Vision-Based Grasp Pose Estimation | [IEEE Transactions on Instrumentation and Measurement (TIM)](https://ieeexplore.ieee.org/abstract/document/9787342) | [Dataset](https://github.com/HuCaoFighting/DVS-GraspingDataSet). |

### Papers about Other tasks
| Year | Paper | Publication | Code/Webpage |
|------|-------|-------------|--------------|
| 2023 | Non-Coaxial Event-guided Motion Deblurring with Spatial Alignment | [ICCV](https://openaccess.thecvf.com/content/ICCV2023/papers/Cho_Non-Coaxial_Event-Guided_Motion_Deblurring_with_Spatial_Alignment_ICCV_2023_paper.pdf) |
| 2023 | RPEFlow: Multimodal Fusion of RGB-PointCloud-Event for Joint Optical Flow and Scene Flow Estimation | [ICCV](https://openaccess.thecvf.com/content/ICCV2023/papers/Wan_RPEFlow_Multimodal_Fusion_of_RGB-PointCloud-Event_for_Joint_Optical_Flow_and_ICCV_2023_paper.pdf) | [Project page](https://npucvr.github.io/RPEFlow/)  |

### arXiv papers
| Year | Paper | Publication | 
|------|-------|-------------|
| 2023 | EvPlug: Learn a Plug-and-Play Module for Event and Image Fusion | [paper](https://doi.org/10.48550/arXiv.2312.16933) |  
| 2023 | Enhancing Traffic Object Detection in Variable Illumination with RGB-Event Fusion | [paper](https://doi.org/10.48550/arXiv.2311.00436) | 
| 2023 | Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarks | [paper](https://arxiv.org/abs/2302.08890) | 
| 2024 | Scene Adaptive Sparse Transformer for Event-based Object Detection | [paper](https://arxiv.org/abs/2404.01882), [code](https://github.com/Peterande/SAST/tree/master) |
| 2024 | Event-assisted Low-Light Video Object Segmentation | [paper](https://arxiv.org/abs/2404.01945) |  
| 2024 | Bilateral Event Mining and Complementary for Event Stream Super-Resolution | [paper](https://arxiv.org/abs/2405.10037) |
| 2024 | Retain, Blend, and Exchange: A Quality-aware Spatial-Stereo Fusion Approach for Event Stream Recognition | [paper](https://arxiv.org/abs/2406.18845), [Code](https://github.com/ChongjianGE/MetaBEV) |

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