Sensor Suite

We present a comprehensive set of data sequences which is recorded by a rich sensor setup placed on a versatile 3D-printed holder. It is centered around an event-based stereo camera, and further contains a regular stereo camera, an RGB-D sensor in the center, a LiDAR mounted on the top, and an IMU at the rear. The holder can be mounted on various platforms: (1) a simple handle for hand-held sequences, (2) a wheeled tripod, and (3) a helmet. Sensors are listed as below, where further specifications can be found in the paper.

• 2x Prophesee Gen3 CD with Kowa LM5JCM
• 2x FLIR Grasshopper3 with Kowa LM6JC
• Azure Kinect
• Ouster OS0-128
• XSens MTi-30 AHRS
• OptiTrack Motion Capture (MoCap) System
• FARO Focus Laser Scanner