EI-Nexus: Towards Unmediated and Flexible Inter-Modality Local Feature Extraction and Matching for Event-Image Data
This addresses a limited research area in event camera applications for robotics or vision systems, offering a more direct and adaptable solution.
The paper tackles the problem of inter-modality local feature extraction and matching between event and image data, proposing EI-Nexus, which outperforms traditional methods and achieves state-of-the-art results on new benchmarks MVSEC-RPE and EC-RPE.
Event cameras, with high temporal resolution and high dynamic range, have limited research on the inter-modality local feature extraction and matching of event-image data. We propose EI-Nexus, an unmediated and flexible framework that integrates two modality-specific keypoint extractors and a feature matcher. To achieve keypoint extraction across viewpoint and modality changes, we bring Local Feature Distillation (LFD), which transfers the viewpoint consistency from a well-learned image extractor to the event extractor, ensuring robust feature correspondence. Furthermore, with the help of Context Aggregation (CA), a remarkable enhancement is observed in feature matching. We further establish the first two inter-modality feature matching benchmarks, MVSEC-RPE and EC-RPE, to assess relative pose estimation on event-image data. Our approach outperforms traditional methods that rely on explicit modal transformation, offering more unmediated and adaptable feature extraction and matching, achieving better keypoint similarity and state-of-the-art results on the MVSEC-RPE and EC-RPE benchmarks. The source code and benchmarks will be made publicly available at https://github.com/ZhonghuaYi/EI-Nexus_official.