Event-Based Visual Teach-and-Repeat via Fast Fourier-Domain Cross-Correlation
Abstract
An event-camera-based visual teach-and-repeat navigation system achieves real-time performance through frequency-domain processing and demonstrates accurate autonomous robot navigation with sub-centimeter precision.
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.
Get this paper in your agent:
hf papers read 2509.17287 Don't have the latest CLI?
curl -LsSf https://hf.co/cli/install.sh | bash Models citing this paper 0
No model linking this paper
Datasets citing this paper 1
Spaces citing this paper 0
No Space linking this paper
Collections including this paper 0
No Collection including this paper