Event-LAB: Towards Standardized Evaluation of Neuromorphic Localization Methods

摘要

Event-based localization research and datasets are a rapidly growing area of interest, with a tenfold increase in the cumulative total number of published papers on this topic over the past 10 years. Whilst the rapid expansion in the field is exciting, it brings with it an associated challenge: a growth in the variety of required code and package dependencies as well as data formats, making comparisons difficult and cumbersome for researchers to implement reliably. To address this challenge, we present Event-LAB: a new and unified framework for running several event-based localization methodologies across multiple datasets. Event-LAB is implemented using the Pixi package and dependency manager, that enables a single command-line installation and invocation for combinations of localization methods and datasets. To demonstrate the capabilities of the framework, we implement two common event-based localization pipelines: Visual Place Recognition (VPR) and Simultaneous Localization and Mapping (SLAM). We demonstrate the ability of the framework to systematically visualize and analyze the results of multiple methods and datasets, revealing key insights such as the association of parameters that control event collection counts and window sizes for frame generation to large variations in performance. The results and analysis demonstrate the importance of fairly comparing methodologies with consistent event image generation parameters. Our Event-LAB framework provides this ability for the research community, by contributing a streamlined workflow for easily setting up multiple conditions.