[ros-users] [Discourse.ros.org] [Release] Release of Event-Camera Dataset and Simulator

Tully Foote ros.discourse at gmail.com
Tue Nov 22 22:46:41 UTC 2016

Davide_Scaramuzza <http://discourse.ros.org/users/davide_scaramuzza>
November 14

Dear colleagues,

We are very happy to announce the release of the first public collection of
datasets recorded with an event camera (DAVIS) for pose estimation, visual
odometry, and SLAM applications! The data also include intensity images,
inertial measurements, ground truth from a motion-capture system, synthetic
data, as well as an event camera simulator that allows you to create your
own sequences! All the data are released both as standard text files and
binary files (i.e., rosbag).

Dataset: http://rpg.ifi.uzh.ch/davis_data.html
Paper: https://arxiv.org/pdf/1610.08336v1
Video of some of the sequences: https://youtu.be/bVVBTQ7l36I
More on our research on event vision: http://rpg.ifi.uzh.ch/

We provide data:
* from a large variety of scenarios, ranging from indoors to outdoors, and
high dynamic range
* featuring a variety of motions, from slow to fast, 1-DOF to 6-DOF
* with several sequences recorded using a motorized linear slider, leading
to very smooth motions!
* synthetic data and, moreover, an event camera simulator that allows you
to create your own sequences!
* including intensity images and inertial measurements at high frequencies.
* with precise ground truth from a motion-capture system.
* with accurate intrinsic and extrinsic calibration.

About event cameras and the DAVIS sensor

Event cameras are revolutionary vision sensors that overcome the
limitations of standard cameras in scenes characterized by high-dynamic
range and high-speed motion: https://youtu.be/iZZ77F-hwzs However, as these
cameras are still expensive and not widely spread, we hope that will
accelerate research on event-based algorithms!
Our dataset was recorded with a DAVIS240C sensor, which incorporates a
conventional global-shutter camera and an event-based sensor in the same
pixel array. This sensor has great potential for high-speed and
high-dynamic range robotics and computer vision applications because it
combines the benefits of conventional cameras with those of event-based
sensors: low latency, high temporal resolution (~1 micro-second), and very
high dynamic range (120 dB). However, new algorithms are required to
exploit the sensor characteristics and cope with its unconventional output,
which consists of a stream of asynchronous brightness changes (called
"events") and synchronous grayscale frames.

We greatly acknowledge our sponsors: the DARPA FLA Program, the Google
Faculty Research Award, the Qualcomm Innovation Fellowship, the SNSF-ERC
Starting Grant, NCCR Robotics, the Swiss National Science Foundation, and
the UZH Forschungskredit.

All feedback is very welcome!

Elias Mueggler, Henri Rebecq, Guillermo Gallego, Tobi Delbruck, Davide

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