mlsanityData to 14 Oct 2026

N-ImageNet: Towards Robust, Fine-Grained Object Recognition with Event Cameras

arXiv 2112.01041 ↗First posted 2 Dec 2021cs.CVcited by 92

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Abstract (arXiv)

We introduce N-ImageNet, a large-scale dataset targeted for robust, fine-grained object recognition with event cameras. The dataset is collected using programmable hardware in which an event camera consistently moves around a monitor displaying images from ImageNet. N-ImageNet serves as a challenging benchmark for event-based object recognition, due to its large number of classes and samples. We empirically show that pretraining on N-ImageNet improves the performance of event-based classifiers and helps them learn with few labeled data. In addition, we present several variants of N-ImageNet to test the robustness of event-based classifiers under diverse camera trajectories and severe lighting conditions, and propose a novel event representation to alleviate the performance degradation. To the best of our knowledge, we are the first to quantitatively investigate the consequences caused by various environmental conditions on event-based object recognition algorithms. N-ImageNet and its variants are expected to guide practical implementations for deploying event-based object recognition algorithms in the real world.

Key facts. Cited by 92 papers in the map (data through 14 Oct 2026). Builds on 28 of its 64 references that are in the map. First posted on arXiv 2 Dec 2021.

Builds on

28 of 64 references.

References · 28

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 30,186
  3. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  4. 2014ImageNet Large Scale Visual Recognition Challengecited by 8,498
  5. 2015Show, Attend and Tell: Neural Image Caption Generation with Visual Attentioncited by 1,423
  6. 2015Converting Static Image Datasets to Spiking Neuromorphic Datasets Using Saccadescited by 314
  7. 2018EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Camerascited by 224
  8. 2018HATS: Histograms of Averaged Time Surfaces for Robust Event-based Object Classificationcited by 218
  9. 2019End-to-End Learning of Representations for Asynchronous Event-Based Datacited by 217
  10. 2016Training Deep Spiking Neural Networks using Backpropagationcited by 205
  11. 2018Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Carscited by 200
  12. 2020Learning to Detect Objects with a 1 Megapixel Event Cameracited by 186
16 more
  1. 2019Video to Events: Recycling Video Datasets for Event Camerascited by 165
  2. 2020A Large Scale Event-based Detection Dataset for Automotivecited by 109
  3. 2020Event-based Asynchronous Sparse Convolutional Networkscited by 104
  4. 2016Phased LSTM: Accelerating Recurrent Network Training for Long or Event-based Sequencescited by 99
  5. 2018Event-based High Dynamic Range Image and Very High Frame Rate Video Generation using Conditional Generative Adversarial Networkscited by 97
  6. 2019Graph-Based Object Classification for Neuromorphic Vision Sensingcited by 85
  7. 2018Continuous-time Intensity Estimation Using Event Camerascited by 68
  8. 2020Event Enhanced High-Quality Image Recoverycited by 68
  9. 2020Temporal Binary Representation for Event-Based Action Recognitioncited by 51
  10. 2015HFirst: A Temporal Approach to Object Recognitioncited by 50
  11. 2020EventSR: From Asynchronous Events to Image Reconstruction, Restoration, and Super-Resolution via End-to-End Adversarial Learningcited by 40
  12. 2020v2e: From Video Frames to Realistic DVS Eventscited by 24
  13. 2020Convolutional Spiking Neural Networks for Spatio-Temporal Feature Extractioncited by 23
  14. 2018PRED18: Dataset and Further Experiments with DAVIS Event Camera in Predator-Prey Robot Chasingcited by 7
  15. 2020Unsupervised Feature Learning for Event Data: Direct vs Inverse Problem Formulationcited by 3
  16. 2020Sparse Convolutions on Continuous Domains for Point Cloud and Event Stream Networkscited by 2

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 1; 2022: 6; 2023: 16; 2024: 25; 2025: 29; 2026: 15.

92 papers.

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  1. 2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
  2. 2024Recent Event Camera Innovations: A Surveycited by 68
  3. 2023DFormer: Rethinking RGBD Representation Learning for Semantic Segmentationcited by 60
  4. 2022Ev-NeRF: Event Based Neural Radiance Fieldcited by 59
  5. 2023From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detectioncited by 52
  6. 2021E2(GO)MOTION: Motion Augmented Event Stream for Egocentric Action Recognitioncited by 50
  7. 2023Event Camera Data Pre-trainingcited by 50
  8. 2024UniBind: LLM-Augmented Unified and Balanced Representation Space to Bind Them Allcited by 49
  9. 2022HARDVS: Revisiting Human Activity Recognition with Dynamic Vision Sensorscited by 47
  10. 2022Masked Event Modeling: Self-Supervised Pretraining for Event Camerascited by 41
  11. 2024OpenESS: Event-based Semantic Scene Understanding with Open Vocabulariescited by 38
  12. 2023EventCLIP: Adapting CLIP for Event-based Object Recognitioncited by 36
38 more
  1. 2023EventBind: Learning a Unified Representation to Bind Them All for Event-based Open-world Understandingcited by 34
  2. 2023Label-Free Event-based Object Recognition via Joint Learning with Image Reconstruction from Eventscited by 28
  3. 2024EventGPT: Event Stream Understanding with Multimodal Large Language Modelscited by 28
  4. 2022Ev-TTA: Test-Time Adaptation for Event-Based Object Recognitioncited by 26
  5. 2023Event Camera Data Dense Pre-trainingcited by 21
  6. 2024OmniBind: Teach to Build Unequal-Scale Modality Interaction for Omni-Bind of Allcited by 20
  7. 2025UCF-Crime-DVS: A Novel Event-Based Dataset for Video Anomaly Detection with Spiking Neural Networkscited by 19
  8. 2023Neuromorphic Event-based Facial Expression Recognitioncited by 18
  9. 2024DailyDVS-200: A Comprehensive Benchmark Dataset for Event-Based Action Recognitioncited by 17
  10. 2023Enhancing Traffic Object Detection in Variable Illumination with RGB-Event Fusioncited by 16
  11. 2024Motion-aware Latent Diffusion Models for Video Frame Interpolationcited by 14
  12. 2025EventVL: Understand Event Streams via Multimodal Large Language Modelcited by 13
  13. 2022Bina-Rep Event Frames: a Simple and Effective Representation for Event-based camerascited by 12
  14. 2024Event Stream based Human Action Recognition: A High-Definition Benchmark Dataset and Algorithmscited by 12
  15. 2024EventSplat: 3D Gaussian Splatting from Moving Event Cameras for Real-time Renderingcited by 12
  16. 2023EventTransAct: A video transformer-based framework for Event-camera based action recognitioncited by 11
  17. 2024SpikMamba: When SNN meets Mamba in Event-based Human Action Recognitioncited by 10
  18. 2025EventFly: Event Camera Perception from Ground to the Skycited by 10
  19. 2024Data-efficient Event Camera Pre-training via Disentangled Masked Modelingcited by 9
  20. 2024Towards Robust Event-based Networks for Nighttime via Unpaired Day-to-Night Event Translationcited by 9
  21. 2023Neuromorphic High-Frequency 3D Dancing Pose Estimation in Dynamic Environmentcited by 8
  22. 2023Optimising Event-Driven Spiking Neural Network with Regularisation and Cutoffcited by 8
  23. 2024EZSR: Event-based Zero-Shot Recognitioncited by 8
  24. 2024Spiking Neural Network as Adaptive Event Stream Slicercited by 8
  25. 2024ADV2E: Bridging the Gap Between Analogue Circuit and Discrete Frames in the Video-to-Events Simulatorcited by 8
  26. 2024EventRPG: Event Data Augmentation with Relevance Propagation Guidancecited by 7
  27. 2024Noise2Image: Noise-Enabled Static Scene Recovery for Event Camerascited by 7
  28. 2025Event Quality Score (EQS): Assessing the Realism of Simulated Event Camera Streams via Distances in Latent Spacecited by 7
  29. 2022Privacy-Preserving Visual Localization with Event Camerascited by 6
  30. 2025Talk2Event: Grounded Understanding of Dynamic Scenes from Event Camerascited by 6
  31. 2025Beyond conventional vision: RGB-event fusion for robust object detection in dynamic traffic scenarioscited by 6
  32. 2024CEIA: CLIP-Based Event-Image Alignment for Open-World Event-Based Understandingcited by 5
  33. 2025LLaFEA: Frame-Event Complementary Fusion for Fine-Grained Spatiotemporal Understanding in LMMscited by 5
  34. 2025Event-Priori-Based Vision-Language Model for Efficient Visual Understandingcited by 5
  35. 2025OmniSegmentor: A Flexible Multi-Modal Learning Framework for Semantic Segmentationcited by 5
  36. 2025CM3AE: A Unified RGB Frame and Event-Voxel/-Frame Pre-training Frameworkcited by 4
  37. 2026Generative Event Pretraining with Foundation Model Alignmentcited by 4
  38. 2023RN-Net: Reservoir Nodes-Enabled Neuromorphic Vision Sensing Networkcited by 3

50 most cited of 92 All 92 (JSON)