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.