CED: Color Event Camera Dataset

CED is the first Color Event Camera Dataset, featuring 50 minutes of footage with both color frames and color events from the Color-DAVIS346. Event cameras have several advantages over conventional cameras: high dynamic range, low latency and immunity to motion blur. We include sequences that showcase these attractive properties, such as high-speed, low-light etc. All the data are released as binary (rosbag) files.

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Citing

When using the data in an academic context, please cite the following paper.

Video

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Dataset Format

CED is grouped into six categories: Simple, Indoors, People, Driving, Calibration and Additional IR filter. We provide all datasets as binary rosbag files for use with the Robot Operating System (ROS). The format is the one used by the RPG DVS ROS driver. The rosbag files contain events using dvs_msgs/EventArray messages and images using standard sensor_msgs/Image message type. Each bag contains color image in two formats (1) image_raw, direct output of the camera without post-processing (recommended) and (2) image_color, RGB color image obtained via demosaicing followed by sRGB gamma correction (primarily intended for visualisation).

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Color-DAVIS346 Datasets

These datasets were generated using a DAVIS346 Red Color from inivation. They contain the color images and color events. The data are available for download as one zip file per category.

Name	Description		Download
Simple	Simple camera motions looking at simple objects and scenes with vibrant colors such as fruit, blocks and posters.		Rosbags (4.6G)
details
Name	Description	Motion	Lux
carpet	Colorful, highly-textured carpet, fluorescent lighting.	6-DOF	200
carpet_fast	Fast moving camera with colorful, highly-textured carpet, fluorescent lighting.	6-DOF	200
color_keyboard_1	Slow moving camera with colorful keyboard, warm low lighting.	Translation	80
color_keyboard_2	Colorful keyboard, warm low lighting.	Translation	80
color_keyboard_3	Colorful keyboard, warm low lighting.	6-DOF	80
flowers_infrared	Flowers, outdoors in shade with infrared filter.	6-DOF	5e4
fruit	Colorful fruits, fluorescent and window lighting.	6-DOF	1e3
fruit_fast	Fast moving camera with colorful fruits, fluorescent and window lighting.	6-DOF	1e3
jenga_1	Colorful Jenga tower, fluorescent lighting.	6-DOF	200
jenga_2	Colorful Jenga tower with failed attempt at destruction, fluorescent lighting.	6-DOF	200
jenga_destroy	Colorful Jenga tower destroyed by flying whiteboard wiper, fluorescent lighting.	6-DOF	200
objects	Colorful everyday objects, fluorescent and window lighting.	6-DOF	1e3
objects_dynamic	Colorful everyday objects being picked up, fluorescent and window lighting.	6-DOF	1e3
rabbits	Colorful Rabbit shapes under natural skylight lighting.	6-DOF	400
wires_1	Colorful rolls of wire, fluorescent and window lighting.	6-DOF	400
wires_2	Colorful rolls of wire, fluorescent and window lighting.	6-DOF	400
Indoors	Natural indoor scenes including office, kitchen, rooms and corridors.		Rosbags (3.3G)
details
Name	Description	Motion	Lux
corridor	Walking down dimly lit corridor, into room with bright windows.	6-DOF	80-1e3
dark_100ms	Desk illuminated by two monitors, exposure set to 100ms.	6-DOF	2
dark_25ms	Desk illuminated by two monitors, exposure set to 25ms.	6-DOF	2
flying_room	Walking around the flying room, fluorescent lighting.	6-DOF	200
foosball_1	Foosball table, fluorescent lighting.	6-DOF	200
foosball_2	Foosball table, fluorescent lighting.	6-DOF	200
foosball_3	Foosball table with strong reflection of fluorescent lighting.	6-DOF	200
kitchen_1	People in kitchen, fluorescent lighting.	6-DOF	200
kitchen_2	People in kitchen, fluorescent lighting.	6-DOF	200
kitchen_fast	Fast camera motion with people in kitchen, fluorescent lighting.	6-DOF	200
office	People in office, fluorescent and window lighting.	6-DOF	1e3
very_dark_250ms	Desk illuminated by one monitor, exposure set to 250ms.	6-DOF	0.8
very_dark_25ms	Desk illuminated by one monitor, exposure set to 25ms.	6-DOF	0.8
window_autoexposure	High dynamic range scene looking inside and outside window, autoexposure enabled.	Rotation	1e3
window	High dynamic range scene looking inside and outside window, autoexposure disabled.	6-DOF	1e3
People	Common actions and gestures such as sitting, waving, jumping, air guitar.		Rosbags (5.4G)
details
Name	Description	Motion	Lux
dynamic_air_guitar	Air guitar.	6-DOF	400
dynamic_armroll	Arm roll.	6-DOF	400
dynamic_clap	Clapping.	6-DOF	400
dynamic_dancing	Dancing.	6-DOF	400
dynamic_dancing_multiple	Multiple people dancing.	6-DOF	400
dynamic_jogging	Jogging.	6-DOF	400
dynamic_jumping	Jumping.	6-DOF	400
dynamic_selfie	Taking a dynamic selfie.	6-DOF	400
dynamic_sitting	Sitting.	6-DOF	400
dynamic_wave	Waving.	6-DOF	400
dynamic_wave_clockwise	Waving clockwise.	6-DOF	400
dynamic_wave_counterclockwise	Waving counterclockwise.	6-DOF	400
static_air_guitar	Air guitar.	Static	400
static_arm_roll	Arm roll.	Static	400
static_clap	Clapping.	Static	400
static_dancing	Dancing.	Static	400
static_dancing_multiple_1	Multiple people dancing.	Static	400
static_dancing_multiple_2	Multiple people dancing.	Static	400
static_dancing_multiple_3	Multiple people dancing.	Static	400
static_jogging	Jogging.	Static	400
static_jumping	Jumping.	Static	400
static_sitting	Sitting.	Static	400
static_wave	Waving.	Static	400
static_wave_clockwise	Waving clockwise.	Static	400
static_wave_counterclockwise	Waving counterclockwise.	Static	400
Driving	Footage from front windshield of car driving around country, suburban and city landscapes. Features tunnels, traffic lights, vehicles and pedestrians during the day in sunny conditions.		Rosbags (18G)
details
Name	Description	Motion	Lux
city_1	Driving around the city, moderate traffic.	Driving	1e5
city_2	Driving around the city and highway, light traffic.	Driving	1e5
city_3	Driving around the city, heavy stop/start traffic.	Driving	1e5
city_4	Driving around the city, features tunnel, light traffic.	Driving	200-1e5
city_5	Driving around the city, features traffic light stops, light traffic.	Driving	1e5
city_sun_1	Stopped in traffic with prominent sun in field of view.	Driving	1e5
city_sun_2	Driving around the city then highway, moderate then light traffic, prominent sun in field of view.	Driving	1e5
country	Driving on windy country road, light traffic.	Driving	1e5
country_sun_1	Driving on country highway, light traffic, prominent sun in field of view.	Driving	1e5
country_sun_2	Driving on country highway, light traffic, prominent sun in field of view.	Driving	1e5
tunnel	Driving into long tunnel (15 seconds) and out into bright sunlight.	Driving	200-1e5
tunnel_sun	10 second tunnel followed by direct sun in field of view.	Driving	200-1e5
Calibration	ColorChecker and density step target: indoors, outdoors, with and without infrared filter.		Rosbags (1G)
details
Name	Description	Motion	Lux
fluorescent	ColorChecker on desk, fluorescent and window lighting.	Translation	1e3
fluorescent_density	Density step target on desk, fluorescent and window lighting.	Translation	1e3
fluorescent_density_infrared	Density step target on desk, fluorescent and window lighting with infrared filter.	Translation	1e3
fluorescent_dynamic	ColorChecker waving in front of camera, fluorescent and window lighting.	Translation	1e3
fluorescent_infrared	ColorChecker on desk, fluorescent and window lighting with infrared filter.	Translation	1e3
low	ColorChecker, warm low lighting.	Translation	80
low_density	Density step target waving in front of camera, warm low lighting.	Translation	80
outdoor	ColorChecker on ground under direct sunlight.	Translation	1e5
outdoor_density	Density step target waving in front of camera under direct sunlight.	Translation	1e5
outdoor_dynamic	ColorChecker waving in front of camera under direct sunlight.	Translation	1e5
outdoor_hdr_infrared	ColorChecker with sun directly behind in field of view.	Translation	1e5
outdoor_infrared	ColorChecker on ground under direct sunlight with infrared filter.	Translation	1e5
Additional	Additional sequences recorded with an infrared filter.		Rosbags (0.6G)
details
Name	Description	Motion	Lux
outdoor_jumping_1_infrared	Jumping outdoors in sunlight with infrared filter.	Static	1e5
outdoor_jumping_infrared_2	Jumping outdoors with ColorChecker in sunlight with infrared filter.	Static	1e5
outdoor_shadow_1_infrared	waving ColorChecker across strong shadow outdoors with infrared filter.	Static	1e5
outdoor_shadow_density_infrared	waving density step target across strong shadow outdoors with infrared filter.	Static	1e5

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Color Event Camera Simulator

We also extended our event camera simulator ESIM to generate color events if desired. Please check out the Github repository for more details.

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).

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Acknowledgements

This work was supported by (i) the Australian Government Research Training Program Scholarship (ii) the Australian Research Council through the "Australian Centre of Excellence for Robotic Vision" under Grant CE140100016 (iii) the Swiss Government Excellence Scholarship (iv) the Swiss National Center of Competence Research Robotics (NCCR) (v) Qualcomm (through the Qualcomm Innovation Fellowship Award 2018) (vi) the SNSF-ERC Starting Grant.