mlsanityData to 14 Oct 2026

EventGeM: Global-to-Local Feature Matching for Event-Based Visual Place Recognition

arXiv 2603.05807 ↗First posted 6 Mar 2026cs.CVcited by 1

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Abstract (arXiv)

Event cameras are rapidly rising in popularity for robotic and computer vision tasks because their sparse activation delivers energy-efficient, high-dynamic-range, and fast sensing. Event cameras have been used in robotic navigation and localization tasks where positioning must occur in real time with sufficient accuracy. However, current event-based localization methods suffer from poor spatial understanding and are not viewpoint tolerant. In this paper, we address the problem of viewpoint-robust place recognition directly from event streams. We present EventGeM, a global-to-local feature fusion pipeline for event-based visual place recognition that combines whole-image feature detection to shortlist top candidates for 2D homography-based re-ranking with random sample consensus (RANSAC). We also contribute a regional generalized mean pooling (GeM) layer that learns to return the most relevant spatial features using per-row exponents to pool event streams into a compact global descriptor, trained on the NYC-Event-VPR dataset. These contributions overcome shortfalls in currently available event-based localization methods that fail to recognize similar places with large changes in viewpoint. To evaluate viewpoint-robust localization, we contribute a new event-based dataset that includes repeated traverses with a severe lateral shift. EventGeM improves absolute Recall@1 by 7 to 43 percentage points over the strongest baseline in each experiment. We also deploy EventGeM on a robotic platform, demonstrating real-time performance of our hierarchical pipeline. The code for EventGeM is available at https://github.com/AdamDHines/Event-GeM.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Builds on 35 of its 49 references that are in the map. First posted on arXiv 6 Mar 2026.

Builds on

35 of 49 references.

References · 35

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23 more
  1. 2023MixVPR: Feature Mixing for Visual Place Recognitioncited by 161
  2. 2023Optimal Transport Aggregation for Visual Place Recognitioncited by 152
  3. 2018Asynchronous, Photometric Feature Tracking using Events and Framescited by 118
  4. 2023EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognitioncited by 111
  5. 2023R2Former: Unified Retrieval and Reranking Transformer for Place Recognitioncited by 102
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  8. 2023Event Camera Data Pre-trainingcited by 50
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  12. 2023Event Camera Data Dense Pre-trainingcited by 21
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  15. 2025Depth AnyEvent: A Cross-Modal Distillation Paradigm for Event-Based Monocular Depth Estimationcited by 15
  16. 2024Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Camerascited by 10
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  18. 2024NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban Environmentscited by 7
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  20. 2025Ensemble-Based Event Camera Place Recognition Under Varying Illuminationcited by 4
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  23. 2025Event-LAB: Towards Standardized Evaluation of Neuromorphic Localization Methodscited by 1

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 1.

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  1. 2026Multi-viewpoint Geo-localization with Event Camerascited by 0