NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban Environments

Visual place recognition (VPR) enables autonomous robots to identify previously visited locations, which contributes to tasks like simultaneous localization and mapping (SLAM). VPR faces challenges such as accurate image neighbor retrieval and appearance change in scenery. Event cameras, also known as dynamic vision sensors, are a new sensor modality for VPR and offer a promising solution to the challenges with their unique attributes: high temporal resolution (1MHz clock), ultra-low latency (in {\mu}s), and high dynamic range (>120dB). These attributes make event cameras less susceptible to motion blur and more robust in variable lighting conditions, making them suitable for addressing VPR challenges. However, the scarcity of event-based VPR datasets, partly due to the novelty and cost of event cameras, hampers their adoption. To fill this data gap, our paper introduces the NYC-Event-VPR dataset to the robotics and computer vision communities, featuring the Prophesee IMX636 HD event sensor (1280x720 resolution), combined with RGB camera and GPS module. It encompasses over 13 hours of geotagged event data, spanning 260 kilometers across New York City, covering diverse lighting and weather conditions, day/night scenarios, and multiple visits to various locations. Furthermore, our paper employs three frameworks to conduct generalization performance assessments, promoting innovation in event-based VPR and its integration into robotics applications.

Science Time Series: Deep Learning in Hydrology

This research is part of a systematic study of scientific time series. In the last three years, hundreds of papers and over fifty new deep-learning models have been described for time series models. These mainly focus on the key aspect of time dependence, whereas in some scientific time series, the situation is more complex with multiple locations, each location having multiple observed and target time-dependent streams and multiple exogenous (known) properties that are either constant or time-dependent. Here, we analyze the hydrology time series using the CAMELS and Caravan global datasets on catchment rainfall and runoff. Together, these have up to 6 observed streams and up to 209 static parameters defined at each of about 8000 locations. This analysis is fully open source with a Jupyter Notebook running on Google Colab for both an LSTM-based analysis and the data engineering preprocessing. Our goal is to investigate the importance of exogenous data, which we look at using eight different choices on representative hydrology tasks. Increasing the exogenous information significantly improves the data representation, with the mean square error decreasing to 60% of its initial value in the largest dataset examined. We present the initial results of studies of other deep-learning neural network architectures where the approaches that can use the full observed and exogenous observations outperform less flexible methods, including Foundation models. Using the natural annual periodic exogenous time series produces the largest impact, but the static and other periodic exogenous streams are also important. Our analysis is intended to be valuable as an educational resource and benchmark.