LARR DVS Dynamic Environments Dataset

File Formats

We provide the event camera datasets from the DAVIS240C in the following format.

APS Images and DVS Events

We provide the time-stamped grayscale images, events, and IMU as a TAR.GZ file.

• The images are stored as 240x180 8-bit monochrome images in PNG format.
• The events are stored as (t,x,y,p) in TXT format.
• Positive and negative events are marked as 1 or 0.

Image Lists

We provide the list of images as a text file.

• Each line in the text file contains timestamp and image.
• The file may contain comments which begin with “#”.

Intrinsic Parameter

We provide the intrinsic parameter of each sequence in YAML format. The parameters are calculated by ROS camera_calibration package.

Downloads (will be updated soon)

We provide the following TAR.GZ files containing image frames, events, imu data.

Preview	Name	Download	Description
	indoor1	TGZ (66MB)	• Indoor • Manual movement
	outdoor1	TGZ (12MB)	• Outdoor • Day • One vehicle • Camera stops moving later
	outdoor2	TGZ (9MB)	• Outdoor • Day • One motorcycle
	outdoor3	TGZ (16MB)	• Outdoor • Night • Three vehicles

For questions, comments, or suggestions, please feel free to send me an email.