Dataset Format
We provide all datasets in two formats: text files and binary files (rosbag). While their content is identical, some of them are better suited for particular applications. The binary rosbag files are intended for users familiar with the Robot Operating System (ROS) and for applications that are intended to be executed on a real system.
Binary Files (rosbag)
The rosbag files contain images and IMU measurements using the standard sensor_msgs/Image and sensor_msgs/Imu message types, respectively. The events are provided as dvs_msgs/EventArray message types, and the ground truth is provided as geometry_msgs/PoseStamped messages. The Events/IMU/GT bag files also contain the image frames from the mDAVIS as sensor_msgs/Image messages.
Sequences
Note that some ground truth files are withheld for benchmarks and competitions.
Indoor forward facing
| # | Duration (s) |
Length (m) |
vmax (m/s) |
DAVIS | Snapdragon | Leica | Ground Truth Public* |
||
| Rosbag | ZIP | Rosbag | ZIP | ||||||
| 3 | 54.63 | 287.12 | 9.5 | 853.7MB | 413.9MB | 1.6GB | 842.8MB | 76kB | yes |
|
|
Easy | |||||||
| 5 | 50 | 156.47 | 4.87 | 1.3GB | 655.3MB | 2.6GB | 1.3GB | 142kB | yes |
|
|
Medium | |||||||
| 6 | 32.93 | 223.27 | 12.52 | 728.1MB | 365.1MB | 1.2GB | 605.3MB | 58kB | yes |
|
|
Medium | |||||||
| 7 | 73.2 | 333.59 | 12.78 | 1.1GB | 559.5MB | 2GB | 964.1MB | 95kB | yes |
|
|
Hard | |||||||
| 8 | 132.53 | 259.16 | 5.26 | 1.4GB | 726.9MB | 2.8GB | 1.4GB | – | no |
| 9 | 34.04 | 157.07 | 11.42 | 710.5MB | 365.6MB | 1.3GB | 627MB | 68kB | yes |
|
|
Easy | |||||||
| 10 | 33.43 | 149.36 | 9.49 | 643.7MB | 327.9MB | 1.3GB | 678.7MB | 69kB | yes |
|
|
Easy | |||||||
| 11 | 24.02 | 85.68 | 10.32 | 973.2MB | 467.5MB | 1.4GB | 731.3MB | – | no |
| 12 | 31.98 | 124.07 | 15.28 | 565.1MB | 268.4MB | 1GB | 567.8MB | – | no |
Indoor 45 degree downward facing
| # | Duration (s) |
Length (m) |
vmax (m/s) |
DAVIS | Snapdragon | Leica | Ground Truth Public* |
||
| Rosbag | ZIP | Rosbag | ZIP | ||||||
| 1 | 73.99 | 150.71 | 4.36 | 1.3GB | 635.8MB | 1.6GB | 897.3MB | – | no |
| 2 | 55.77 | 218.9 | 6.97 | 1.3GB | 602.5MB | 1.2GB | 643.5MB | 83kB | yes |
|
|
Easy | |||||||
| 3 | 57.82 | 119.82 | 3.53 | 870.6MB | 437.8MB | 1.3GB | 683.1MB | – | no |
| 4 | 47.36 | 168.06 | 6.55 | 1.1GB | 496.3MB | 1.1GB | 607.8MB | 71kB | yes |
|
|
Easy | |||||||
| 9 | 40 | 215.58 | 11.23 | 808.1MB | 370.8MB | 1.2GB | 664MB | 62kB | yes |
|
|
Medium | |||||||
| 11 | 22.96 | 125.21 | 11.74 | 949.6MB | 440.1MB | 893.3MB | 480.8MB | – | no |
| 12 | 51.25 | 124.56 | 4.33 | 563.7MB | 268.8MB | 1.3GB | 648.6MB | 72kB | yes |
|
|
Easy | |||||||
| 13 | 42.49 | 166.62 | 7.92 | 527.9MB | 254.7MB | 1.1GB | 534.9MB | 62kB | yes |
|
|
Medium | |||||||
| 14 | 43.66 | 220.4 | 9.54 | 625.6MB | 301MB | 1.2GB | 543.8MB | 60kB | yes |
|
|
Hard | |||||||
| 16 | 15.49 | 58.72 | 7.69 | 336MB | 166.1MB | 805.3MB | 448MB | – | no |
Outdoor forward facing
| # | Duration (s) |
Length (m) |
vmax (m/s) |
DAVIS | Snapdragon | Leica | Ground Truth Public* |
||
| Rosbag | ZIP | Rosbag | ZIP | ||||||
| 1 | 49.63 | 258.23 | 8.55 | 687.2MB | 358.6MB | 1.5GB | 664.8MB | 123kB | yes |
|
|
Easy | |||||||
| 2 | 36.9 | 220.88 | 10.13 | 763.4MB | 410.3MB | 249.8MB | 710.4MB | – | no |
| 3 | 92.84 | 735.51 | 14.04 | 1.1GB | 637.2MB | 2.2GB | 1.1GB | 117kB | yes |
|
|
Medium | |||||||
| 5 | 22.21 | 189.63 | 20.73 | 657.1MB | 342.7MB | 1.5GB | 729.6MB | 72kB | yes |
|
|
Hard | |||||||
| 6 | 34.83 | 338.2 | 19.42 | 786.5MB | 427MB | 1.3GB | 677.6MB | – | no |
| 9 | 43.15 | 314.41 | 10.68 | 1.1GB | 577.4MB | 1.5GB | 742.1MB | – | no |
| 10 | 59.6 | 455.63 | 12.58 | 1.2GB | 656MB | 1.8GB | 955.6MB | – | no |
Outdoor 45 degree downward facing
| # | Duration (s) |
Length (m) |
vmax (m/s) |
DAVIS | Snapdragon | Leica | Ground Truth Public* |
||
| Rosbag | ZIP | Rosbag | ZIP | ||||||
| 1 | 24.49 | 165.53 | 15.62 | 1.3GB | 650.4MB | 1.4GB | 723.3MB | 46kB | yes |
|
|
Medium | |||||||
| 2 | 26.19 | 143.13 | 10.68 | 1.1GB | 588.1MB | 1.2GB | 633.5MB | – | no |
Calibration
We provide the calibration parameters for the camera intrinsics and camera-IMU extrinsics in YAML format, as well as the raw calibration sequences used to produce those with the Kalibr toolbox.
| For sequences | DAVIS | Snapdragon | ||||
| Calib. sequences | Calibration | Calib. sequences | Calibration | |||
| Camera | IMU | Camera | IMU | |||
| Indoor forward | 134.1MB | 138.6MB | 2.2MB | 1.2GB | 1GB | 4.1MB |
| Indoor 45 down | 206.8MB | 112.8MB | 2.2MB | 1.3GB | 792.3MB | 2.2MB |
| Outdoor forward | 213.1MB | 227.6MB | 4.4MB | 919.1MB | 892.9MB | 5.3MB |
| Outdoor 45 down | 214.7MB | 130.1MB | 2.3MB | 1.4GB | 578.4MB | 3.5MB |
License
This datasets are released under the Creative Commons license (CC BY-NC-SA 3.0), which is free for non-commercial use (including research).