CED: Color Event Camera Dataset

DAVIS 240C

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.


Citing

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

C. Scheerlinck*, H. Rebecq*, T. Stoffregen, N. Barnes, R. Mahony, D. Scaramuzza

CED: Color Event Camera Dataset

IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2019.

PDF YouTube Dataset


Video



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).



Color-DAVIS346 Datasets

DAVIS346 Red Color

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


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).

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.