# CED: Color Event Camera Dataset

arXiv: https://arxiv.org/abs/1904.10772 · HTML: https://mlsanity.com/paper/1904.10772/

## Key facts

- Cited by 37 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Apr 2019.

## Built on by (most cited first, 30 of 37)

- [Ev-NeRF: Event Based Neural Radiance Field](https://mlsanity.com/paper/2206.12455/) (2022)
- [Towards Robust Event-guided Low-Light Image Enhancement: A Large-Scale Real-World Event-Image Dataset and Novel Approach](https://mlsanity.com/paper/2404.00834/) (2024)
- [HyperE2VID: Improving Event-Based Video Reconstruction via Hypernetworks](https://mlsanity.com/paper/2305.06382/) (2023)
- [Optical flow estimation from event-based cameras and spiking neural networks](https://mlsanity.com/paper/2302.06492/) (2023)
- [Learning Spatial-Temporal Implicit Neural Representations for Event-Guided Video Super-Resolution](https://mlsanity.com/paper/2303.13767/) (2023)
- [Deformable Neural Radiance Fields using RGB and Event Cameras](https://mlsanity.com/paper/2309.08416/) (2023)
- [Formulating Event-based Image Reconstruction as a Linear Inverse Problem with Deep Regularization using Optical Flow](https://mlsanity.com/paper/2112.06242/) (2021)
- [EVREAL: Towards a Comprehensive Benchmark and Analysis Suite for Event-based Video Reconstruction](https://mlsanity.com/paper/2305.00434/) (2023)
- [Emergent Visual Sensors for Autonomous Vehicles](https://mlsanity.com/paper/2205.09383/) (2022)
- [EventAid: Benchmarking Event-aided Image/Video Enhancement Algorithms with Real-captured Hybrid Dataset](https://mlsanity.com/paper/2312.08220/) (2023)
- [Neuromorphic Camera Denoising using Graph Neural Network-driven Transformers](https://mlsanity.com/paper/2112.09685/) (2021)
- [Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perception](https://mlsanity.com/paper/2401.13853/) (2024)
- [Depth AnyEvent: A Cross-Modal Distillation Paradigm for Event-Based Monocular Depth Estimation](https://mlsanity.com/paper/2509.15224/) (2025)
- [EvLight++: Low-Light Video Enhancement with an Event Camera: A Large-Scale Real-World Dataset, Novel Method, and More](https://mlsanity.com/paper/2408.16254/) (2024)
- [UniINR: Event-guided Unified Rolling Shutter Correction, Deblurring, and Interpolation](https://mlsanity.com/paper/2305.15078/) (2023)
- [EvTexture: Event-driven Texture Enhancement for Video Super-Resolution](https://mlsanity.com/paper/2406.13457/) (2024)
- [EvRepSL: Event-Stream Representation via Self-Supervised Learning for Event-Based Vision](https://mlsanity.com/paper/2412.07080/) (2024)
- [An Asynchronous Linear Filter Architecture for Hybrid Event-Frame Cameras](https://mlsanity.com/paper/2309.01159/) (2023)
- [HR-INR: Continuous Space-Time Video Super-Resolution via Event Camera](https://mlsanity.com/paper/2405.13389/) (2024)
- [Self-supervised Learning of Event-guided Video Frame Interpolation for Rolling Shutter Frames](https://mlsanity.com/paper/2306.15507/) (2023)
- [Unleashing the Power of CNN and Transformer for Balanced RGB-Event Video Recognition](https://mlsanity.com/paper/2312.11128/) (2023)
- [SEE: See Everything Every Time -- Adaptive Brightness Adjustment for Broad Light Range Images via Events](https://mlsanity.com/paper/2502.21120/) (2025)
- [Revisit Event Generation Model: Self-Supervised Learning of Event-to-Video Reconstruction with Implicit Neural Representations](https://mlsanity.com/paper/2407.18500/) (2024)
- [Seeing like a Cephalopod: Colour Vision with a Monochrome Event Camera](https://mlsanity.com/paper/2504.10984/) (2025)
- [Event Spectroscopy: Event-based Multispectral and Depth Sensing using Structured Light](https://mlsanity.com/paper/2509.06741/) (2025)
- [Event Camera Guided Visual Media Restoration & 3D Reconstruction: A Survey](https://mlsanity.com/paper/2509.09971/) (2025)
- [EvRWKV: A Continuous Interactive RWKV Framework for Effective Event-Guided Low-Light Image Enhancement](https://mlsanity.com/paper/2507.03184/) (2025)
- [EventTracer: Fast Path Tracing-based Event Stream Rendering](https://mlsanity.com/paper/2508.18071/) (2025)
- [Illumination-Based Color Reconstruction for the Dynamic Vision Sensor](https://mlsanity.com/paper/2211.06695/) (2022)
- [STD-GS: Exploring Frame-Event Interaction for SpatioTemporal-Disentangled Gaussian Splatting to Reconstruct High-Dynamic Scene](https://mlsanity.com/paper/2506.23157/) (2025)

## Abstract (arXiv)

Event cameras are novel, bio-inspired visual sensors, whose pixels output asynchronous and independent timestamped spikes at local intensity changes, called 'events'. Event cameras offer advantages over conventional frame-based cameras in terms of latency, high dynamic range (HDR) and temporal resolution. Until recently, event cameras have been limited to outputting events in the intensity channel, however, recent advances have resulted in the development of color event cameras, such as the Color-DAVIS346. In this work, we present and release the first Color Event Camera Dataset (CED), containing 50 minutes of footage with both color frames and events. CED features a wide variety of indoor and outdoor scenes, which we hope will help drive forward event-based vision research. We also present an extension of the event camera simulator ESIM that enables simulation of color events. Finally, we present an evaluation of three state-of-the-art image reconstruction methods that can be used to convert the Color-DAVIS346 into a continuous-time, HDR, color video camera to visualise the event stream, and for use in downstream vision applications.