mlsanityData to 7 Oct 2026

The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception

arXiv 1801.10202 ↗First posted 30 Jan 2018cs.ROcited by 251

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Abstract (arXiv)

Event based cameras are a new passive sensing modality with a number of benefits over traditional cameras, including extremely low latency, asynchronous data acquisition, high dynamic range and very low power consumption. There has been a lot of recent interest and development in applying algorithms to use the events to perform a variety of 3D perception tasks, such as feature tracking, visual odometry, and stereo depth estimation. However, there currently lacks the wealth of labeled data that exists for traditional cameras to be used for both testing and development. In this paper, we present a large dataset with a synchronized stereo pair event based camera system, carried on a handheld rig, flown by a hexacopter, driven on top of a car and mounted on a motorcycle, in a variety of different illumination levels and environments. From each camera, we provide the event stream, grayscale images and IMU readings. In addition, we utilize a combination of IMU, a rigidly mounted lidar system, indoor and outdoor motion capture and GPS to provide accurate pose and depth images for each camera at up to 100Hz. For comparison, we also provide synchronized grayscale images and IMU readings from a frame based stereo camera system.

Key facts. Cited by 251 papers in the map (data through 7 Oct 2026). First posted on arXiv 30 Jan 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 23; 2022: 34; 2023: 44; 2024: 49; 2025: 60; 2026: 41.

251 papers.

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  1. 2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 297
  2. 2021Training Spiking Neural Networks Using Lessons From Deep Learningcited by 251
  3. 2022AEGNN: Asynchronous Event-based Graph Neural Networkscited by 118
  4. 2021Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networkscited by 99
  5. 2022Secrets of Event-Based Optical Flowcited by 92
  6. 2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
  7. 2021Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Predictioncited by 88
  8. 2024Recent Event Camera Innovations: A Surveycited by 67
  9. 2022Learning Dense and Continuous Optical Flow from an Event Cameracited by 59
  10. 2022Event-based Video Reconstruction via Potential-assisted Spiking Neural Networkcited by 58
  11. 2021Spatio-Temporal Recurrent Networks for Event-Based Optical Flow Estimationcited by 50
  12. 2023Event Camera Data Pre-trainingcited by 49
38 more
  1. 2024Towards Robust Event-guided Low-Light Image Enhancement: A Large-Scale Real-World Event-Image Dataset and Novel Approachcited by 48
  2. 2021EvDistill: Asynchronous Events to End-task Learning via Bidirectional Reconstruction-guided Cross-modal Knowledge Distillationcited by 46
  3. 2022VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAMcited by 45
  4. 2023Hierarchical Neural Memory Network for Low Latency Event Processingcited by 45
  5. 2021TUM-VIE: The TUM Stereo Visual-Inertial Event Datasetcited by 41
  6. 2022RGB-Event Fusion for Moving Object Detection in Autonomous Drivingcited by 39
  7. 2023Taming Contrast Maximization for Learning Sequential, Low-latency, Event-based Optical Flowcited by 39
  8. 2023HyperE2VID: Improving Event-Based Video Reconstruction via Hypernetworkscited by 37
  9. 2021Bridging the Gap between Events and Frames through Unsupervised Domain Adaptationcited by 36
  10. 2022DEVO: Depth-Event Camera Visual Odometry in Challenging Conditionscited by 36
  11. 2022ViViD++: Vision for Visibility Datasetcited by 34
  12. 2022Event Collapse in Contrast Maximization Frameworkscited by 33
  13. 2023Optical flow estimation from event-based cameras and spiking neural networkscited by 33
  14. 2023BlinkFlow: A Dataset to Push the Limits of Event-based Optical Flow Estimationcited by 33
  15. 2024Seeing Motion at Nighttime with an Event Cameracited by 33
  16. 2021Dual Transfer Learning for Event-based End-task Prediction via Pluggable Event to Image Translationcited by 31
  17. 2022EVIMO2: An Event Camera Dataset for Motion Segmentation, Optical Flow, Structure from Motion, and Visual Inertial Odometry in Indoor Scenes with Monocular or Stereo Algorithmscited by 31
  18. 2022Lightweight Event-based Optical Flow Estimation via Iterative Deblurringcited by 31
  19. 2023TMA: Temporal Motion Aggregation for Event-based Optical Flowcited by 31
  20. 2021Optical Flow Estimation for Spiking Cameracited by 29
  21. 2023Deep Event Visual Odometrycited by 29
  22. 2021Real-Time Optical Flow for Vehicular Perception with Low- and High-Resolution Event Camerascited by 27
  23. 2023Learning Optical Flow from Event Camera with Rendered Datasetcited by 26
  24. 2023RPEFlow: Multimodal Fusion of RGB-PointCloud-Event for Joint Optical Flow and Scene Flow Estimationcited by 26
  25. 2021Fusion-FlowNet: Energy-Efficient Optical Flow Estimation using Sensor Fusion and Deep Fused Spiking-Analog Network Architecturescited by 25
  26. 2022HALSIE: Hybrid Approach to Learning Segmentation by Simultaneously Exploiting Image and Event Modalitiescited by 24
  27. 2023EVREAL: Towards a Comprehensive Benchmark and Analysis Suite for Event-based Video Reconstructioncited by 24
  28. 2023V2CE: Video to Continuous Events Simulatorcited by 24
  29. 2023LEOD: Label-Efficient Object Detection for Event Camerascited by 24
  30. 2024eTraM: Event-based Traffic Monitoring Datasetcited by 24
  31. 2024Motion-prior Contrast Maximization for Dense Continuous-Time Motion Estimationcited by 24
  32. 2021Comparing Representations in Tracking for Event Camera-based SLAMcited by 23
  33. 2024A Survey on Deep Stereo Matching in the Twentiescited by 23
  34. 2021Exploring Event-driven Dynamic Context for Accident Scene Segmentationcited by 22
  35. 2021Spatiotemporal Registration for Event-based Visual Odometrycited by 21
  36. 2021StereoSpike: Depth Learning with a Spiking Neural Networkcited by 21
  37. 2022Multi-Event-Camera Depth Estimation and Outlier Rejection by Refocused Events Fusioncited by 21
  38. 2023Event Camera Data Dense Pre-trainingcited by 21

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