Combined Dynamic Vision / RGB-D Dataset

Overview

This dataset consists of recordings of the three data streams (color, depth, events) from the D-eDVS – a depth-augmented embedded dynamic vision sensor – and corresponding ground truth data from an external tracking system. It is released into the public domain in combination with the following ICRA 2014 publication:

David Weikersdorfer, David B. Adrian, Daniel Cremers, Jörg Conradt:
Event-based 3D SLAM with a depth-augmented dynamic vision sensor.
International Conference on Robotics and Automation, Hong-Kong, 2014

Please cite this publication if you are using the dataset for your work.

Contact: David Weikersdorfer, Jörg Conradt, Neuroscientific System Theory, TU M√ľnchen.

Details and Download

The dataset contains of 5 scenarios with a total of 26 takes. Each take corresponds to one path and is between 20 to 60 seconds long. For each take the following data is provided:

Scenario Take RGB-D Format Duration Frames (color/depth) Events Link
11320x240@60Hz30.91871 / 18561456422download
21640x480@30Hz25.0 749 / 752 984609download
22640x480@30Hz24.8 740 / 7431228999download
23640x480@30Hz25.3 755 / 7581420190download
24640x480@30Hz25.2 753 / 7551303302download
31640x480@30Hz25.1 750 / 7531811233download
32640x480@30Hz25.1 750 / 7521822262download
33640x480@30Hz36.81100 / 11042750400download
34640x480@30Hz35.3 984 / 9852739406download
35640x480@30Hz36.81101 / 11052475213download
36640x480@30Hz46.91402 / 14083260258download
37640x480@30Hz50.31504 / 15102805818download
38640x480@30Hz46.91401 / 14072046209download
71640x480@30Hz23.5 703 / 7061341056download
72640x480@30Hz21.5 642 / 6441340804download
73640x480@30Hz30.6 916 / 9191769307download
74640x480@30Hz31.9 952 / 9562203772download
75640x480@30Hz61.71838 / 18491645344download
76640x480@30Hz61.91847 / 18551469080download
77640x480@30Hz42.01255 / 12601077844download
78640x480@30Hz61.91847 / 18551680188download
81640x480@30Hz27.5 823 / 8261603852download
82640x480@30Hz27.3 815 / 8181545613download
83640x480@30Hz30.5 912 / 9141081577download
84640x480@30Hz28.4 849 / 8531143159download