RGB-Event HyperGraph Prompt for Kilometer Marker Recognition based on Pre-trained Foundation Models
This addresses a critical problem for autonomous metro systems in GNSS-denied conditions, but it is incremental as it adapts existing methods to a new multi-modal setup.
The paper tackles Kilometer Marker Recognition for autonomous metro localization in challenging environments by integrating event cameras with a pre-trained RGB OCR model, achieving effectiveness demonstrated on a new large-scale RGB-Event dataset of 5,599 samples.
Metro trains often operate in highly complex environments, characterized by illumination variations, high-speed motion, and adverse weather conditions. These factors pose significant challenges for visual perception systems, especially those relying solely on conventional RGB cameras. To tackle these difficulties, we explore the integration of event cameras into the perception system, leveraging their advantages in low-light conditions, high-speed scenarios, and low power consumption. Specifically, we focus on Kilometer Marker Recognition (KMR), a critical task for autonomous metro localization under GNSS-denied conditions. In this context, we propose a robust baseline method based on a pre-trained RGB OCR foundation model, enhanced through multi-modal adaptation. Furthermore, we construct the first large-scale RGB-Event dataset, EvMetro5K, containing 5,599 pairs of synchronized RGB-Event samples, split into 4,479 training and 1,120 testing samples. Extensive experiments on EvMetro5K and other widely used benchmarks demonstrate the effectiveness of our approach for KMR. Both the dataset and source code will be released on https://github.com/Event-AHU/EvMetro5K_benchmark