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Event-Based Visual Teach-and-Repeat via Fast Fourier-Domain Cross-Correlation

arXiv 2509.17287 ↗First posted 21 Sep 2025cs.RO cs.CVcited by 0

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Abstract (arXiv)

Visual teach-and-repeat (VT&R) navigation enables robots to autonomously traverse previously demonstrated paths using visual feedback. We present a novel event-camera-based VT&R system. Our system formulates event-stream matching as frequency-domain cross-correlation, transforming spatial convolutions into efficient Fourier-space multiplications. By exploiting the binary structure of event frames and applying image compression techniques, we achieve a processing latency of just 2.88 ms, about 3.5 times faster than conventional camera-based baselines that are optimised for runtime efficiency. Experiments using a Prophesee EVK4 HD event camera mounted on an AgileX Scout Mini robot demonstrate successful autonomous navigation across 3000+ meters of indoor and outdoor trajectories in daytime and nighttime conditions. Our system maintains Cross-Track Errors (XTE) below 15 cm, demonstrating the practical viability of event-based perception for real-time VT&R navigation.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 22 of its 54 references that are in the map. First posted on arXiv 21 Sep 2025.

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22 of 54 references.

References · 22

  1. 2019Event-based Vision: A Surveycited by 1,016
  2. 2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 303
  3. 2017Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarioscited by 150
  4. 2020Event-based Stereo Visual Odometrycited by 105
  5. 2020DDD20 End-to-End Event Camera Driving Dataset: Fusing Frames and Events with Deep Learning for Improved Steering Predictioncited by 56
  6. 2020Event-based visual place recognition with ensembles of temporal windowscited by 36
  7. 2023Fully neuromorphic vision and control for autonomous drone flightcited by 30
  8. 2022How Many Events do You Need? Event-based Visual Place Recognition Using Sparse But Varying Pixelscited by 18
  9. 2024Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perceptioncited by 15
  10. 2020Fast and Robust Bio-inspired Teach and Repeat Navigationcited by 13
  11. 2024Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Camerascited by 10
  12. 2024A compact neuromorphic system for ultra-energy-efficient, on-device robot localizationcited by 9
10 more
  1. 2023EV-Planner: Energy-Efficient Robot Navigation via Event-Based Physics-Guided Neuromorphic Plannercited by 7
  2. 2024NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban Environmentscited by 7
  3. 2021Kilometer-scale autonomous navigation in subarctic forests: challenges and lessons learnedcited by 6
  4. 2017Navigation without localisation: reliable teach and repeat based on the convergence theoremcited by 5
  5. 2024Autobiasing Event Camerascited by 3
  6. 2024Radar Teach and Repeat: Architecture and Initial Field Testingcited by 2
  7. 2025Low-Latency Event-Based Velocimetry for Quadrotor Control in a Narrow Pipecited by 2
  8. 2023Teach and Repeat Navigation: A Robust Control Approachcited by 1
  9. 2025Multi-Platform Teach-and-Repeat Navigation by Visual Place Recognition Based on Deep-Learned Local Featurescited by 1
  10. 2025Toward Teach and Repeat Across Seasonal Deep Snow Accumulationcited by 1

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