mlsanityData to 7 Oct 2026

Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarks

arXiv 2302.08890 ↗First posted 17 Feb 2023cs.CVcited by 90

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Abstract (arXiv)

Event cameras are bio-inspired sensors that capture the per-pixel intensity changes asynchronously and produce event streams encoding the time, pixel position, and polarity (sign) of the intensity changes. Event cameras possess a myriad of advantages over canonical frame-based cameras, such as high temporal resolution, high dynamic range, low latency, etc. Being capable of capturing information in challenging visual conditions, event cameras have the potential to overcome the limitations of frame-based cameras in the computer vision and robotics community. In very recent years, deep learning (DL) has been brought to this emerging field and inspired active research endeavors in mining its potential. However, there is still a lack of taxonomies in DL techniques for event-based vision. We first scrutinize the typical event representations with quality enhancement methods as they play a pivotal role as inputs to the DL models. We then provide a comprehensive survey of existing DL-based methods by structurally grouping them into two major categories: 1) image/video reconstruction and restoration; 2) event-based scene understanding and 3D vision. We conduct benchmark experiments for the existing methods in some representative research directions, i.e., image reconstruction, deblurring, and object recognition, to identify some critical insights and problems. Finally, we have discussions regarding the challenges and provide new perspectives for inspiring more research studies.

Key facts. Cited by 90 papers in the map (data through 7 Oct 2026). Builds on 141 of its 291 references that are in the map. First posted on arXiv 17 Feb 2023.

Builds on

141 of 291 references.

References · 141

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  6. 2018ShuffleNet V2: Practical Guidelines for Efficient CNN Architecture Designcited by 1,132
  7. 2019Event-based Vision: A Surveycited by 1,010
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  11. 2018Quantizing deep convolutional networks for efficient inference: A whitepapercited by 507
  12. 2019High Speed and High Dynamic Range Video with an Event Cameracited by 344
38 more
  1. 2015Converting Static Image Datasets to Spiking Neuromorphic Datasets Using Saccadescited by 308
  2. 2018Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotioncited by 304
  3. 2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 297
  4. 2018Deep Learning in Spiking Neural Networkscited by 258
  5. 2018The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perceptioncited by 251
  6. 2017Geometric Loss Functions for Camera Pose Regression with Deep Learningcited by 224
  7. 2018EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Camerascited by 223
  8. 2019End-to-End Learning of Representations for Asynchronous Event-Based Datacited by 216
  9. 2018HATS: Histograms of Averaged Time Surfaces for Robust Event-based Object Classificationcited by 215
  10. 2016Training Deep Spiking Neural Networks using Backpropagationcited by 203
  11. 2016The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAMcited by 203
  12. 2018Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Carscited by 197
  13. 2019Events-to-Video: Bringing Modern Computer Vision to Event Camerascited by 191
  14. 2020Learning to Detect Objects with a 1 Megapixel Event Cameracited by 184
  15. 2021Deblur-NeRF: Neural Radiance Fields from Blurry Imagescited by 179
  16. 2018A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimationcited by 178
  17. 2019Video to Events: Recycling Video Datasets for Event Camerascited by 162
  18. 2022Recurrent Vision Transformers for Object Detection with Event Camerascited by 158
  19. 2019Feedback Network for Image Super-Resolutioncited by 155
  20. 2017Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarioscited by 150
  21. 2021TimeLens: Event-based Video Frame Interpolationcited by 150
  22. 2021E-RAFT: Dense Optical Flow from Event Camerascited by 149
  23. 2018Bringing a Blurry Frame Alive at High Frame-Rate with an Event Cameracited by 141
  24. 2020Single-Image HDR Reconstruction by Learning to Reverse the Camera Pipelinecited by 131
  25. 2020SoccerNet-v2: A Dataset and Benchmarks for Holistic Understanding of Broadcast Soccer Videoscited by 129
  26. 2018Event-based Moving Object Detection and Trackingcited by 126
  27. 2020Back to Event Basics: Self-Supervised Learning of Image Reconstruction for Event Cameras via Photometric Constancycited by 125
  28. 2018Asynchronous, Photometric Feature Tracking using Events and Framescited by 118
  29. 2022AEGNN: Asynchronous Event-based Graph Neural Networkscited by 118
  30. 2022Time Lens++: Event-based Frame Interpolation with Parametric Non-linear Flow and Multi-scale Fusioncited by 110
  31. 2020A Large Scale Event-based Detection Dataset for Automotivecited by 108
  32. 2020Event-based Stereo Visual Odometrycited by 105
  33. 2020Event-based Asynchronous Sparse Convolutional Networkscited by 103
  34. 2021Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networkscited by 99
  35. 2016Phased LSTM: Accelerating Recurrent Network Training for Long or Event-based Sequencescited by 98
  36. 2020Spike-FlowNet: Event-based Optical Flow Estimation with Energy-Efficient Hybrid Neural Networkscited by 98
  37. 2018Event-based High Dynamic Range Image and Very High Frame Rate Video Generation using Conditional Generative Adversarial Networkscited by 97
  38. 2018EV-SegNet: Semantic Segmentation for Event-based Camerascited by 92

50 most cited of 141 All 141 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 10; 2024: 28; 2025: 44; 2026: 8.

90 papers.

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  1. 2024UniBind: LLM-Augmented Unified and Balanced Representation Space to Bind Them Allcited by 49
  2. 2024Towards Robust Event-guided Low-Light Image Enhancement: A Large-Scale Real-World Event-Image Dataset and Novel Approachcited by 48
  3. 2025MLLMs are Deeply Affected by Modality Biascited by 38
  4. 2024OpenESS: Event-based Semantic Scene Understanding with Open Vocabulariescited by 37
  5. 2023Learning Spatial-Temporal Implicit Neural Representations for Event-Guided Video Super-Resolutioncited by 33
  6. 2023EventBind: Learning a Unified Representation to Bind Them All for Event-based Open-world Understandingcited by 33
  7. 2024ExACT: Language-guided Conceptual Reasoning and Uncertainty Estimation for Event-based Action Recognition and Morecited by 33
  8. 2023TMA: Temporal Motion Aggregation for Event-based Optical Flowcited by 31
  9. 2024Learning Modality-agnostic Representation for Semantic Segmentation from Any Modalitiescited by 29
  10. 2024EventGPT: Event Stream Understanding with Multimodal Large Language Modelscited by 27
  11. 2024eTraM: Event-based Traffic Monitoring Datasetcited by 24
  12. 2024EventDance: Unsupervised Source-free Cross-modal Adaptation for Event-based Object Recognitioncited by 23
38 more
  1. 2023Chasing Day and Night: Towards Robust and Efficient All-Day Object Detection Guided by an Event Cameracited by 21
  2. 2024Centering the Value of Every Modality: Towards Efficient and Resilient Modality-agnostic Semantic Segmentationcited by 21
  3. 2024Event-based Stereo Depth Estimation: A Surveycited by 19
  4. 2025Benchmarking Multi-modal Semantic Segmentation under Sensor Failures: Missing and Noisy Modality Robustnesscited by 18
  5. 2023Event-based Simultaneous Localization and Mapping: A Comprehensive Surveycited by 17
  6. 2024EvLight++: Low-Light Video Enhancement with an Event Camera: A Large-Scale Real-World Dataset, Novel Method, and Morecited by 13
  7. 2025Towards Omnidirectional Reasoning with 360-R1: A Dataset, Benchmark, and GRPO-based Methodcited by 13
  8. 2024MAGIC++: Efficient and Resilient Modality-Agnostic Semantic Segmentation via Hierarchical Modality Selectioncited by 12
  9. 2025PANORAMA: The Rise of Omnidirectional Vision in the Embodied AI Eracited by 12
  10. 2023SRFNet: Monocular Depth Estimation with Fine-grained Structure via Spatial Reliability-oriented Fusion of Frames and Eventscited by 11
  11. 2024TIM: An Efficient Temporal Interaction Module for Spiking Transformercited by 11
  12. 2024eMoE-Tracker: Environmental MoE-based Transformer for Robust Event-guided Object Trackingcited by 10
  13. 2024Elite-EvGS: Learning Event-based 3D Gaussian Splatting by Distilling Event-to-Video Priorscited by 10
  14. 2025Unsupervised Joint Learning of Optical Flow and Intensity with Event Camerascited by 10
  15. 2023EV-MGRFlowNet: Motion-Guided Recurrent Network for Unsupervised Event-based Optical Flow with Hybrid Motion-Compensation Losscited by 9
  16. 2023UniINR: Event-guided Unified Rolling Shutter Correction, Deblurring, and Interpolationcited by 9
  17. 2024Image Anything: Towards Reasoning-coherent and Training-free Multi-modal Image Generationcited by 9
  18. 2024TENet: Targetness Entanglement Incorporating with Multi-Scale Pooling and Mutually-Guided Fusion for RGB-E Object Trackingcited by 9
  19. 2025MemorySAM: Memorize Modalities and Semantics with Segment Anything Model 2 for Multi-modal Semantic Segmentationcited by 9
  20. 2025Reducing Unimodal Bias in Multi-Modal Semantic Segmentation with Multi-Scale Functional Entropy Regularizationcited by 9
  21. 2025Towards End-to-End Neuromorphic Event-based 3D Object Reconstruction Without Physical Priorscited by 7
  22. 2024HR-INR: Continuous Space-Time Video Super-Resolution via Event Cameracited by 6
  23. 2025Instance-Level Moving Object Segmentation from a Single Image with Eventscited by 6
  24. 2025Event Camera Meets Mobile Embodied Perception: Abstraction, Algorithm, Acceleration, Applicationcited by 6
  25. 2025Talk2Event: Grounded Understanding of Dynamic Scenes from Event Camerascited by 6
  26. 2026Embodied Foundation Models at the Edge: A Survey of Deployment Constraints and Mitigation Strategiescited by 6
  27. 2023Self-supervised Learning of Event-guided Video Frame Interpolation for Rolling Shutter Framescited by 5
  28. 2024PCDepth: Pattern-based Complementary Learning for Monocular Depth Estimation by Best of Both Worldscited by 5
  29. 2025SEBVS: Synthetic Event-based Visual Servoing for Robot Navigation and Manipulationcited by 5
  30. 2026EventVGGT: Exploring Cross-Modal Distillation for Consistent Event-based Depth Estimationcited by 5
  31. 2023CrossZoom: Simultaneously Motion Deblurring and Event Super-Resolvingcited by 4
  32. 2025DERD-Net: Learning Depth from Event-based Ray Densitiescited by 4
  33. 2025A Survey of 3D Reconstruction with Event Camerascited by 4
  34. 2024Event Camera Demosaicing via Swin Transformer and Pixel-focus Losscited by 3
  35. 2024Dynamic EventNeRF: Reconstructing General Dynamic Scenes from Multi-view RGB and Event Streamscited by 3
  36. 2025LLM-EvRep: Learning an LLM-Compatible Event Representation Using a Self-Supervised Frameworkcited by 3
  37. 2025Hardware, Algorithms, and Applications of the Neuromorphic Vision Sensor: a Reviewcited by 3
  38. 2025evTransFER: A Transfer Learning Framework for Event-based Facial Expression Recognitioncited by 3

50 most cited of 90 All 90 (JSON)