Dataset Files

Important: We have recently found an issue in the rotations provided in the ground truth, see the report. We are currently working on a corrected version of the ground truth. This does not affect ground truth positions.

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).