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The Event-Camera Dataset and Simulator

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Published on Oct 27, 2016

The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM

This presents the world's first collection of datasets with an event-based camera for high-speed robotics. The data also include intensity images, inertial measurements, and ground truth from a motion-capture system as well as synthetic data. An event-based camera is a revolutionary vision sensor with three key advantages: a measurement rate that is almost 1 million times faster than standard cameras, a latency of 1 microsecond, and a high dynamic range of 130 decibels (standard cameras only have 60 dB). These properties enable the design of a new class of algorithms for high-speed robotics, where standard cameras suffer from motion blur and high latency. All the data are released both as text files and binary (i.e., rosbag) files.

Dataset page: http://rpg.ifi.uzh.ch/davis_data.html
Paper:
E. Mueggler, H. Rebecq, G. Gallego, T. Delbruck, D. Scaramuzza
The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM
International Journal of Robotics Research, 2016.
PDF: https://arxiv.org/pdf/1610.08336.pdf

More on our research on event cameras: http://rpg.ifi.uzh.ch/research_dvs.html

Tutorial on event-based cameras:
http://www.rit.edu/kgcoe/iros15worksh...

Robotics and Perception Group, University of Zurich
http://rpg.ifi.uzh.ch/

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