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.
CED: Color Event Camera Dataset
IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2019.
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).
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 | |||
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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 |
We also extended our event camera simulator ESIM to generate color events if desired. Please check out the Github repository for more details.