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Type Journal Article
Scope Discipline-based scholarship
Title The event-camera dataset and simulator: Event-based data for pose estimation, visual odometry, and SLAM
Organization Unit
Authors
  • Elias Mueggler
  • Henri Rebecq
  • Guillermo Gallego
  • Tobi Delbruck
  • Davide Scaramuzza
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
Journal Title International Journal of Robotics Research
Publisher Sage Publications Ltd.
Geographical Reach international
ISSN 0278-3649
Volume 36
Number 2
Page Range 144 - 155
Date 2017
Abstract Text New vision sensors, such as the dynamic and active-pixel vision sensor (DAVIS), incorporate a conventional global-shutter camera and an event-based sensor in the same pixel array. These sensors have great potential for high-speed robotics and computer vision because they allow us to combine the benefits of conventional cameras with those of event-based sensors: low latency, high temporal resolution, and very high dynamic range. 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. For this purpose, we present and release a collection of datasets captured with a DAVIS in a variety of synthetic and real environments, which we hope will motivate research on new algorithms for high-speed and high-dynamic-range robotics and computer-vision applications. In addition to global-shutter intensity images and asynchronous events, we provide inertial measurements and ground-truth camera poses from a motion-capture system. The latter allows comparing the pose accuracy of ego-motion estimation algorithms quantitatively. All the data are released both as standard text files and binary files (i.e. rosbag). This paper provides an overview of the available data and describes a simulator that we release open-source to create synthetic event-camera data.
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Digital Object Identifier 10.1177/0278364917691115
Other Identification Number merlin-id:14066
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