Event-based Vision for VO/VIO/SLAM in Robotics

Author: Guan Weipeng, Chen Peiyu

This is the repositorie that collects the dataset we used in our papers. We also conclude our works in the field of event-based vision. We hope that we can make some contributions for the development of event-based vision in robotics.

If you have any suggestions or questions, do not hesitate to propose an issue.

If you find this repositorie is helpful in your research, a simple star or citation of our works should be the best affirmation for us. :blush:

• Dataset for Stereo EVIO
• Acquisition Platform
• Driver Installation
• Data Sequence
• Dataset for Monocular EVIO
• Acquisition Platform
• Data Sequence
• Modified Public Dataset
• Modified VECtor Dataset
• Modified DSEC Dataset
• Our Works in Event-based Vision
• 1. Mono-EIO
• 2. PL-EVIO
• 3. ESVIO
• 4. ECMD
• 5. EVI-SAM
• 6. DEIO
• Using Our Methods as Comparison
• Recommendation

Dataset for Stereo EVIO

This dataset contains stereo event data at 60HZ and stereo image frames at 30Hz with resolution in 346 × 260, as well as IMU data at 1000Hz. Timestamps between all sensors are synchronized in hardware. We also provide ground truth poses from a motion capture system VICON at 50Hz during the beginning and end of each sequence, which can be used for trajectory evaluation. To alleviate disturbance from the motion capture system’s infrared light on the event camera, we add an infrared filter on the lens surface of the DAVIS346 camera. Note that this might cause the degradation of perception for both the event and image camera during the evaluation, but it can also further increase the challenge of our dataset for the only image-based method.

This is a very challenge dataset for event-based VO/VIO, features aggressive motion and HDR scenarios. EVO, ESVO, Ultimate SLAM are failed in most of the sequences. We think that parameter tuning is infeasible, therefore, we suggest the users use same set of parameters during the evaluation. We hope that our dataset can help to push the boundary of future research on event-based VO/VIO algorithms, especially the ones that are really useful and can be applied in practice.

Acquisition Platform

The Platform for Data Collection

• The configuration file is in link
• The DAVIS comprises an image camera and event camera on the same pixel array, thus calibration can be done using standard image-based methods, such as Kalibr
• We also provide the rosbag for stereo cameras and IMU calibration: Calibration_bag.
• Event Camera Calibration using Kalibr and imu_utils

Driver Installation

We thanks the rpg_dvs_ros for intructions of event camera driver.

We add the function of the hardware synchronized for stereo setup, the source code is available in link. After installing the driver, the user can directly run the following command to run your stereo event camera:

roslaunch stereo_davis_open.launch

Tips: Users need to adjust the lens of the camera, such as the focal length, aperture. Filters are needed for avoiding the interfere from infrared light under the motion capture system. For the dvxplorer, the sensitive of event generation should be set, e.g. bias_sensitivity. Users can visualize the event streams to see whether it is similiar to the edge map of the testing environments, and then fine-tune it. Otherwise, the event sensor would output many noise and ultimately leading the event data as useless as the M2DGR datasets.

Data Sequence

In our VICON room:

Outdoor large-scale (outdoor without ground truth):

The path length of this data sequence is about 1866m, which covers the place around 310m in length, 170m in width, and 55m in height changes, from Loke Yew Hall to the Eliot Hall and back to the Loke Yew Hall in HKU campus. That would be a nice travel for your visiting the HKU :heart_eyes: Try it！

Dataset for Monocular EVIO

You can use these data sequence to test your monocular EVIO in different resolution event cameras. TheDAVIS346 (346x260) and DVXplorer (640x480)are attached together (shown in Figure) for facilitating comparison. All the sequences are recorded in HDR scenarios with very low illumination or strong illumination changes through switching the strobe flash on and off. We also provide indoor and outdoor large-scale data sequence.

Acquisition Platform

The Platform for Data Collection

• The configuration file is in link

Data Sequence

With VICON as ground truth:

indoor (no ground truth):

Outdoor (no ground truth):