# Graph-based Asynchronous Event Processing for Rapid Object Recognition

arXiv: https://arxiv.org/abs/2308.14419 · HTML: https://mlsanity.com/paper/2308.14419/

## Key facts

- Cited by 51 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 48 references that are in the map.
- First posted on arXiv 28 Aug 2023.

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

- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Inductive Representation Learning on Large Graphs](https://mlsanity.com/paper/1706.02216/) (2017)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications](https://mlsanity.com/paper/1704.04861/) (2017)
- [A Comprehensive Survey on Graph Neural Networks](https://mlsanity.com/paper/1901.00596/) (2019)
- [Convolutional LSTM Network: A Machine Learning Approach for Precipitation Nowcasting](https://mlsanity.com/paper/1506.04214/) (2015)
- [Deeper Insights into Graph Convolutional Networks for Semi-Supervised Learning](https://mlsanity.com/paper/1801.07606/) (2018)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (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)
- [Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotion](https://mlsanity.com/paper/1812.08156/) (2018)
- [HATS: Histograms of Averaged Time Surfaces for Robust Event-based Object Classification](https://mlsanity.com/paper/1803.07913/) (2018)
- [End-to-End Learning of Representations for Asynchronous Event-Based Data](https://mlsanity.com/paper/1904.08245/) (2019)
- [Events-to-Video: Bringing Modern Computer Vision to Event Cameras](https://mlsanity.com/paper/1904.08298/) (2019)
- [Asynchronous, Photometric Feature Tracking using Events and Frames](https://mlsanity.com/paper/1807.09713/) (2018)
- [Event-based Stereo Visual Odometry](https://mlsanity.com/paper/2007.15548/) (2020)
- [Event-based Asynchronous Sparse Convolutional Networks](https://mlsanity.com/paper/2003.09148/) (2020)
- [Event-based High Dynamic Range Image and Very High Frame Rate Video Generation using Conditional Generative Adversarial Networks](https://mlsanity.com/paper/1811.08230/) (2018)
- [Graph-Based Object Classification for Neuromorphic Vision Sensing](https://mlsanity.com/paper/1908.06648/) (2019)
- [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)
- [HFirst: A Temporal Approach to Object Recognition](https://mlsanity.com/paper/1508.01176/) (2015)
- [Event-based Motion Segmentation with Spatio-Temporal Graph Cuts](https://mlsanity.com/paper/2012.08730/) (2020)
- [Real-Time Intensity-Image Reconstruction for Event Cameras Using Manifold Regularisation](https://mlsanity.com/paper/1607.06283/) (2016)
- [Speed Invariant Time Surface for Learning to Detect Corner Points with Event-Based Cameras](https://mlsanity.com/paper/1903.11332/) (2019)
- [DART: Distribution Aware Retinal Transform for Event-based Cameras](https://mlsanity.com/paper/1710.10800/) (2017)
- [Effective AER Object Classification Using Segmented Probability-Maximization Learning in Spiking Neural Networks](https://mlsanity.com/paper/2002.06199/) (2020)

## Built on by (most cited first, 30 of 51)

- [GET: Group Event Transformer for Event-Based Vision](https://mlsanity.com/paper/2310.02642/) (2023)
- [Recent Event Camera Innovations: A Survey](https://mlsanity.com/paper/2408.13627/) (2024)
- [Scene Adaptive Sparse Transformer for Event-based Object Detection](https://mlsanity.com/paper/2404.01882/) (2024)
- [V2CE: Video to Continuous Events Simulator](https://mlsanity.com/paper/2309.08891/) (2023)
- [Object Detection using Event Camera: A MoE Heat Conduction based Detector and A New Benchmark Dataset](https://mlsanity.com/paper/2412.06647/) (2024)
- [EventDance: Unsupervised Source-free Cross-modal Adaptation for Event-based Object Recognition](https://mlsanity.com/paper/2403.14082/) (2024)
- [SFOD: Spiking Fusion Object Detector](https://mlsanity.com/paper/2403.15192/) (2024)
- [DailyDVS-200: A Comprehensive Benchmark Dataset for Event-Based Action Recognition](https://mlsanity.com/paper/2407.05106/) (2024)
- [ESVO2: Direct Visual-Inertial Odometry with Stereo Event Cameras](https://mlsanity.com/paper/2410.09374/) (2024)
- [EAS-SNN: End-to-End Adaptive Sampling and Representation for Event-based Detection with Recurrent Spiking Neural Networks](https://mlsanity.com/paper/2403.12574/) (2024)
- [Event-guided Low-light Video Semantic Segmentation](https://mlsanity.com/paper/2411.00639/) (2024)
- [EvGNN: An Event-driven Graph Neural Network Accelerator for Edge Vision](https://mlsanity.com/paper/2404.19489/) (2024)
- [BlinkVision: A Benchmark for Optical Flow, Scene Flow and Point Tracking Estimation using RGB Frames and Events](https://mlsanity.com/paper/2410.20451/) (2024)
- [E2PNet: Event to Point Cloud Registration with Spatio-Temporal Representation Learning](https://mlsanity.com/paper/2311.18433/) (2023)
- [Data-efficient Event Camera Pre-training via Disentangled Masked Modeling](https://mlsanity.com/paper/2403.00416/) (2024)
- [Towards Robust Event-based Networks for Nighttime via Unpaired Day-to-Night Event Translation](https://mlsanity.com/paper/2407.10703/) (2024)
- [Ev-3DOD: Pushing the Temporal Boundaries of 3D Object Detection with Event Cameras](https://mlsanity.com/paper/2502.19630/) (2025)
- [Adaptive Event Stream Slicing for Open-Vocabulary Event-Based Object Detection via Vision-Language Knowledge Distillation](https://mlsanity.com/paper/2510.00681/) (2025)
- [Out of the Room: Generalizing Event-Based Dynamic Motion Segmentation for Complex Scenes](https://mlsanity.com/paper/2403.04562/) (2024)
- [Embedded Graph Convolutional Networks for Real-Time Event Data Processing on SoC FPGAs](https://mlsanity.com/paper/2406.07318/) (2024)
- [Hybrid Spiking Vision Transformer for Object Detection with Event Cameras](https://mlsanity.com/paper/2505.07715/) (2025)
- [Object-centric Cross-modal Feature Distillation for Event-based Object Detection](https://mlsanity.com/paper/2311.05494/) (2023)
- [Event Camera Meets Mobile Embodied Perception: Abstraction, Algorithm, Acceleration, Application](https://mlsanity.com/paper/2503.22943/) (2025)
- [Optimising Graph Representation for Hardware Implementation of Graph Convolutional Networks for Event-based Vision](https://mlsanity.com/paper/2401.04988/) (2024)
- [BlinkTrack: Feature Tracking over 80 FPS via Events and Images](https://mlsanity.com/paper/2409.17981/) (2024)
- [Unleashing the Temporal Potential of Stereo Event Cameras for Continuous-Time 3D Object Detection](https://mlsanity.com/paper/2508.02288/) (2025)
- [MTGA: Multi-View Temporal Granularity Aligned Aggregation for Event-Based Lip-Reading](https://mlsanity.com/paper/2404.11979/) (2024)
- [Retain, Blend, and Exchange: A Quality-aware Spatial-Stereo Fusion Approach for Event Stream Recognition](https://mlsanity.com/paper/2406.18845/) (2024)
- [Conditional Uncertainty Quantification for Tensorized Topological Neural Networks](https://mlsanity.com/paper/2410.15241/) (2024)
- [When Every Millisecond Counts: Real-Time Anomaly Detection via the Multimodal Asynchronous Hybrid Network](https://mlsanity.com/paper/2506.17457/) (2025)

## Abstract (arXiv)

Different from traditional video cameras, event cameras capture asynchronous events stream in which each event encodes pixel location, trigger time, and the polarity of the brightness changes. In this paper, we introduce a novel graph-based framework for event cameras, namely SlideGCN. Unlike some recent graph-based methods that use groups of events as input, our approach can efficiently process data event-by-event, unlock the low latency nature of events data while still maintaining the graph's structure internally. For fast graph construction, we develop a radius search algorithm, which better exploits the partial regular structure of event cloud against k-d tree based generic methods. Experiments show that our method reduces the computational complexity up to 100 times with respect to current graph-based methods while keeping state-of-the-art performance on object recognition. Moreover, we verify the superiority of event-wise processing with our method. When the state becomes stable, we can give a prediction with high confidence, thus making an early recognition. Project page: urlhttps://zju3dv.github.io/slidegcn/.