# EvConv: Fast CNN Inference on Event Camera Inputs For High-Speed Robot Perception

arXiv: https://arxiv.org/abs/2303.04670 · HTML: https://mlsanity.com/paper/2303.04670/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 29 of its 40 references that are in the map.
- First posted on arXiv 8 Mar 2023.

## Builds on (most cited first, 29 of 29)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [Converting Static Image Datasets to Spiking Neuromorphic Datasets Using Saccades](https://mlsanity.com/paper/1507.07629/) (2015)
- [The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception](https://mlsanity.com/paper/1801.10202/) (2018)
- [EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Cameras](https://mlsanity.com/paper/1802.06898/) (2018)
- [HATS: Histograms of Averaged Time Surfaces for Robust Event-based Object Classification](https://mlsanity.com/paper/1803.07913/) (2018)
- [The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM](https://mlsanity.com/paper/1610.08336/) (2016)
- [Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars](https://mlsanity.com/paper/1804.01310/) (2018)
- [Learning to Detect Objects with a 1 Megapixel Event Camera](https://mlsanity.com/paper/2009.13436/) (2020)
- [E-RAFT: Dense Optical Flow from Event Cameras](https://mlsanity.com/paper/2108.10552/) (2021)
- [Event-based Moving Object Detection and Tracking](https://mlsanity.com/paper/1803.04523/) (2018)
- [Back to Event Basics: Self-Supervised Learning of Image Reconstruction for Event Cameras via Photometric Constancy](https://mlsanity.com/paper/2009.08283/) (2020)
- [AEGNN: Asynchronous Event-based Graph Neural Networks](https://mlsanity.com/paper/2203.17149/) (2022)
- [Event-based Asynchronous Sparse Convolutional Networks](https://mlsanity.com/paper/2003.09148/) (2020)
- [Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networks](https://mlsanity.com/paper/2106.01862/) (2021)
- [EV-SegNet: Semantic Segmentation for Event-based Cameras](https://mlsanity.com/paper/1811.12039/) (2018)
- [Dynamic Convolutions: Exploiting Spatial Sparsity for Faster Inference](https://mlsanity.com/paper/1912.03203/) (2019)
- [Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction](https://mlsanity.com/paper/2102.09320/) (2021)
- [Learning Monocular Dense Depth from Events](https://mlsanity.com/paper/2010.08350/) (2020)
- [ESS: Learning Event-based Semantic Segmentation from Still Images](https://mlsanity.com/paper/2203.10016/) (2022)
- [TorchSparse: Efficient Point Cloud Inference Engine](https://mlsanity.com/paper/2204.10319/) (2022)
- [EventNet: Asynchronous Recursive Event Processing](https://mlsanity.com/paper/1812.07045/) (2018)
- [Asynchronous Convolutional Networks for Object Detection in Neuromorphic Cameras](https://mlsanity.com/paper/1805.07931/) (2018)
- [EVDodgeNet: Deep Dynamic Obstacle Dodging with Event Cameras](https://mlsanity.com/paper/1906.02919/) (2019)
- [DeltaCNN: End-to-End CNN Inference of Sparse Frame Differences in Videos](https://mlsanity.com/paper/2203.03996/) (2022)
- [CBinfer: Exploiting Frame-to-Frame Locality for Faster Convolutional Network Inference on Video Streams](https://mlsanity.com/paper/1808.05488/) (2018)

## Abstract (arXiv)

Event cameras capture visual information with a high temporal resolution and a wide dynamic range. This enables capturing visual information at fine time granularities (e.g., microseconds) in rapidly changing environments. This makes event cameras highly useful for high-speed robotics tasks involving rapid motion, such as high-speed perception, object tracking, and control. However, convolutional neural network inference on event camera streams cannot currently perform real-time inference at the high speeds at which event cameras operate - current CNN inference times are typically closer in order of magnitude to the frame rates of regular frame-based cameras. Real-time inference at event camera rates is necessary to fully leverage the high frequency and high temporal resolution that event cameras offer. This paper presents EvConv, a new approach to enable fast inference on CNNs for inputs from event cameras. We observe that consecutive inputs to the CNN from an event camera have only small differences between them. Thus, we propose to perform inference on the difference between consecutive input tensors, or the increment. This enables a significant reduction in the number of floating-point operations required (and thus the inference latency) because increments are very sparse. We design EvConv to leverage the irregular sparsity in increments from event cameras and to retain the sparsity of these increments across all layers of the network. We demonstrate a reduction in the number of floating operations required in the forward pass by up to 98%. We also demonstrate a speedup of up to 1.6X for inference using CNNs for tasks such as depth estimation, object recognition, and optical flow estimation, with almost no loss in accuracy.