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

arXiv:2509.17287v3 Announce Type: replace Abstract: 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.

Abstract: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.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2509.17287 [cs.RO]

(or arXiv:2509.17287v3 [cs.RO] for this version)

From: Gokul B. Nair [view email] [v1] Sun, 21 Sep 2025 23:53:31 UTC (5,856 KB) [v2] Mon, 9 Mar 2026 03:55:46 UTC (7,008 KB) [v3] Mon, 12 Oct 2026 03:56:03 UTC (7,003 KB)

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

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