Event Camera Datasets

Datasets from the ShanghaiTech Automation and Robotics Center (STAR Center) for research on Event Cameras.

• 

  VECtor Benchmark

  Containing 12 + 7 hardware-synchronized, multi-modal data sequences.
  • Sensors:
    2x Event camera (640x480)
    2x RGB camera (1224x1024, 30Hz, global shutter)
    1x RGB-D camera (640x576, 30Hz, depth only)
    1x 128-channel LiDAR (10Hz)
    1x IMU (9-axis, 200Hz)
  • Size: 1TB
  • Motion: Hand-held, Wheeled Tripod & On-helmet
  • Scene: Small-scale & Large-scale Indoor Scenes
  • Format: ROS 1 Bag
  • Ground truth: Motion Capture System & Laser Scanner
  • Paper: Gao et al. VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM, In submission to Robotics and Automation Letters with IROS option, IEEE, 2022