Data to 7 Oct 2026

Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars

arXiv 1804.01310 ↗First posted 4 Apr 2018cs.CV cs.LG cs.ROcited by 197

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Abstract (arXiv)

Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a challenging motion-estimation task: prediction of a vehicle's steering angle. To make the best out of this sensor-algorithm combination, we adapt state-of-the-art convolutional architectures to the output of event sensors and extensively evaluate the performance of our approach on a publicly available large scale event-camera dataset (~1000 km). We present qualitative and quantitative explanations of why event cameras allow robust steering prediction even in cases where traditional cameras fail, e.g. challenging illumination conditions and fast motion. Finally, we demonstrate the advantages of leveraging transfer learning from traditional to event-based vision, and show that our approach outperforms state-of-the-art algorithms based on standard cameras.

Key facts. Cited by 197 papers in the map (data through 7 Oct 2026). First posted on arXiv 4 Apr 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 34; 2022: 24; 2023: 39; 2024: 40; 2025: 33; 2026: 27.

197 papers.

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2022AEGNN: Asynchronous Event-based Graph Neural Networkscited by 118
2021Learning Task-Oriented Communication for Edge Inference: An Information Bottleneck Approachcited by 105
2021N-ImageNet: Towards Robust, Fine-Grained Object Recognition with Event Camerascited by 91
2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
2021Object Tracking by Jointly Exploiting Frame and Event Domaincited by 83
2021VISTA 2.0: An Open, Data-driven Simulator for Multimodal Sensing and Policy Learning for Autonomous Vehiclescited by 81
2022ESS: Learning Event-based Semantic Segmentation from Still Imagescited by 81
2022Object Detection with Spiking Neural Networks on Automotive Event Datacited by 79
2021Time-Ordered Recent Event (TORE) Volumes for Event Camerascited by 73
2024Recent Event Camera Innovations: A Surveycited by 67
2023How Deep Learning Sees the World: A Survey on Adversarial Attacks & Defensescited by 65
2023From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detectioncited by 52

38 more

2023Event Camera Data Pre-trainingcited by 49
2021EvDistill: Asynchronous Events to End-task Learning via Bidirectional Reconstruction-guided Cross-modal Knowledge Distillationcited by 46
2023Hierarchical Neural Memory Network for Low Latency Event Processingcited by 45
2024DME-Driver: Integrating Human Decision Logic and 3D Scene Perception in Autonomous Drivingcited by 41
2022Masked Event Modeling: Self-Supervised Pretraining for Event Camerascited by 40
2022RGB-Event Fusion for Moving Object Detection in Autonomous Drivingcited by 39
2023SODFormer: Streaming Object Detection with Transformer Using Events and Framescited by 39
2021A Voxel Graph CNN for Object Classification with Event Camerascited by 38
2024OpenESS: Event-based Semantic Scene Understanding with Open Vocabulariescited by 37
2021Bridging the Gap between Events and Frames through Unsupervised Domain Adaptationcited by 36
2023EventCLIP: Adapting CLIP for Event-based Object Recognitioncited by 36
2021Event-driven Vision and Control for UAVs on a Neuromorphic Chipcited by 33
2021Dual Transfer Learning for Event-based End-task Prediction via Pluggable Event to Image Translationcited by 31
2021EventDrop: data augmentation for event-based learningcited by 28
2023Label-Free Event-based Object Recognition via Joint Learning with Image Reconstruction from Eventscited by 28
2021Understanding the Dynamics of DNNs Using Graph Modularitycited by 26
2022Ev-TTA: Test-Time Adaptation for Event-Based Object Recognitioncited by 26
2021Learning from Event Cameras with Sparse Spiking Convolutional Neural Networkscited by 25
2022Efficient Human Pose Estimation via 3D Event Point Cloudcited by 25
2022HALSIE: Hybrid Approach to Learning Segmentation by Simultaneously Exploiting Image and Event Modalitiescited by 24
2024eTraM: Event-based Traffic Monitoring Datasetcited by 24
2022Motion Robust High-Speed Light-Weighted Object Detection With Event Cameracited by 23
2024EventDance: Unsupervised Source-free Cross-modal Adaptation for Event-based Object Recognitioncited by 23
2021Exploring Event-driven Dynamic Context for Accident Scene Segmentationcited by 22
2021Representation Learning for Event-based Visuomotor Policiescited by 19
2021Optimal Model Placement and Online Model Splitting for Device-Edge Co-Inferencecited by 19
2024Hypergraph-based Multi-View Action Recognition using Event Camerascited by 19
2023Sneaky Spikes: Uncovering Stealthy Backdoor Attacks in Spiking Neural Networks with Neuromorphic Datacited by 18
2022How Many Events do You Need? Event-based Visual Place Recognition Using Sparse But Varying Pixelscited by 17
2023EvHandPose: Event-based 3D Hand Pose Estimation with Sparse Supervisioncited by 17
2023Event Voxel Set Transformer for Spatiotemporal Representation Learning on Event Streamscited by 17
2023RS2G: Data-Driven Scene-Graph Extraction and Embedding for Robust Autonomous Perception and Scenario Understandingcited by 17
20233D Pose Estimation of Two Interacting Hands from a Monocular Event Cameracited by 17
2021Lifting Monocular Events to 3D Human Posescited by 16
2023Dual Memory Aggregation Network for Event-Based Object Detection with Learnable Representationcited by 16
2023Person Re-Identification without Identification via Event Anonymizationcited by 16
2023Enhancing Traffic Object Detection in Variable Illumination with RGB-Event Fusioncited by 16
2021DA4Event: towards bridging the Sim-to-Real Gap for Event Cameras using Domain Adaptationcited by 14

50 most cited of 197 All 197 (JSON)