Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Cameras
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
This paper introduces feedback control algorithms that automatically tune the bias parameters through two interacting methods: 1) An immediate, on-the-fly fast adaptation of the refractory period, which sets the minimum interval between consecutive events, and 2) if the event rate exceeds the specified bounds even after changing the refractory period repeatedly, the controller adapts the pixel bandwidth and event thresholds, which stabilizes after a short period of noise events across all pixels (slow adaptation).