{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/rgb-event-fusion-with-self-attention-for","title":"RGB-Event Fusion with Self-Attention for Collision Prediction","arxiv_id":"2505.04258","date":"2025-05-07","proceeding":null,"authors":["Pietro Bonazzi","Christian Vogt","Michael Jost","Haotong Qin","Lyes Khacef","Federico Paredes-Valles","Michele Magno"],"abstract":"Ensuring robust and real-time obstacle avoidance is critical for the safe operation of autonomous robots in dynamic, real-world environments. This paper proposes a neural network framework for predicting the time and collision position of an unmanned aerial vehicle with a dynamic object, using RGB and event-based vision sensors. The proposed architecture consists of two separate encoder branches, one for each modality, followed by fusion by self-attention to improve prediction accuracy. To facilitate benchmarking, we leverage the ABCD [8] dataset collected that enables detailed comparisons of single-modality and fusion-based approaches. At the same prediction throughput of 50Hz, the experimental results show that the fusion-based model offers an improvement in prediction accuracy over single-modality approaches of 1% on average and 10% for distances beyond 0.5m, but comes at the cost of +71% in memory and + 105% in FLOPs. Notably, the event-based model outperforms the RGB model by 4% for position and 26% for time error at a similar computational cost, making it a competitive alternative. Additionally, we evaluate quantized versions of the event-based models, applying 1- to 8-bit quantization to assess the trade-offs between predictive performance and computational efficiency. These findings highlight the trade-offs of multi-modal perception using RGB and event-based cameras in robotic applications.","url_abs":"https://arxiv.org/abs/2505.04258v2","url_pdf":"https://arxiv.org/pdf/2505.04258v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"rgb-event-fusion-with-self-attention-for","repo_url":"https://github.com/pbonazzi/eva","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"benchmarking","task_name":"Benchmarking"},{"task_slug":"computational-efficiency","task_name":"Computational Efficiency"},{"task_slug":"event-based-vision","task_name":"Event-based vision"},{"task_slug":null,"task_name":"Position"},{"task_slug":"prediction","task_name":"Prediction"},{"task_slug":"quantization","task_name":"Quantization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}