Data to 7 Oct 2026

A Large Scale Event-based Detection Dataset for Automotive

arXiv 2001.08499 ↗First posted 23 Jan 2020cs.CV cs.LG cs.ROcited by 108

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Abstract (arXiv)

We introduce the first very large detection dataset for event cameras. The dataset is composed of more than 39 hours of automotive recordings acquired with a 304x240 ATIS sensor. It contains open roads and very diverse driving scenarios, ranging from urban, highway, suburbs and countryside scenes, as well as different weather and illumination conditions. Manual bounding box annotations of cars and pedestrians contained in the recordings are also provided at a frequency between 1 and 4Hz, yielding more than 255,000 labels in total. We believe that the availability of a labeled dataset of this size will contribute to major advances in event-based vision tasks such as object detection and classification. We also expect benefits in other tasks such as optical flow, structure from motion and tracking, where for example, the large amount of data can be leveraged by self-supervised learning methods.

Key facts. Cited by 108 papers in the map (data through 7 Oct 2026). First posted on arXiv 23 Jan 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 5; 2022: 8; 2023: 16; 2024: 29; 2025: 25; 2026: 25.

108 papers.

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2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 297
2022Recurrent Vision Transformers for Object Detection with Event Camerascited by 158
2022AEGNN: Asynchronous Event-based Graph Neural Networkscited by 118
2021N-ImageNet: Towards Robust, Fine-Grained Object Recognition with Event Camerascited by 91
2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
2022Object Detection with Spiking Neural Networks on Automotive Event Datacited by 79
2023Deep Directly-Trained Spiking Neural Networks for Object Detectioncited by 76
2024State Space Models for Event Camerascited by 75
2023GET: Group Event Transformer for Event-Based Visioncited by 73
2024Recent Event Camera Innovations: A Surveycited by 67
2023From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detectioncited by 52
2021E2(GO)MOTION: Motion Augmented Event Stream for Egocentric Action Recognitioncited by 50

38 more

2023Cross-modal Orthogonal High-rank Augmentation for RGB-Event Transformer-trackerscited by 43
2023SODFormer: Streaming Object Detection with Transformer Using Events and Framescited by 39
2024Scene Adaptive Sparse Transformer for Event-based Object Detectioncited by 39
2023EventCLIP: Adapting CLIP for Event-based Object Recognitioncited by 36
2023Optical flow estimation from event-based cameras and spiking neural networkscited by 33
2022Pushing the Limits of Asynchronous Graph-based Object Detection with Event Camerascited by 32
2021CarSNN: An Efficient Spiking Neural Network for Event-Based Autonomous Cars on the Loihi Neuromorphic Research Processorcited by 27
2024Object Detection using Event Camera: A MoE Heat Conduction based Detector and A New Benchmark Datasetcited by 25
2021ES-ImageNet: A Million Event-Stream Classification Dataset for Spiking Neural Networkscited by 24
2023LEOD: Label-Efficient Object Detection for Event Camerascited by 24
2024eTraM: Event-based Traffic Monitoring Datasetcited by 24
2022Motion Robust High-Speed Light-Weighted Object Detection With Event Cameracited by 23
2024SFOD: Spiking Fusion Object Detectorcited by 19
2025SMamba: Sparse Mamba for Event-based Object Detectioncited by 19
2022Emergent Visual Sensors for Autonomous Vehiclescited by 18
2023Enhancing Traffic Object Detection in Variable Illumination with RGB-Event Fusioncited by 16
2024EAS-SNN: End-to-End Adaptive Sampling and Representation for Event-based Detection with Recurrent Spiking Neural Networkscited by 16
2024SEVD: Synthetic Event-based Vision Dataset for Ego and Fixed Traffic Perceptioncited by 15
2024Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perceptioncited by 14
2025Event-based Tiny Object Detection: A Benchmark Dataset and Baselinecited by 14
2024TUMTraf Event: Calibration and Fusion Resulting in a Dataset for Roadside Event-Based and RGB Camerascited by 13
2024When Pedestrian Detection Meets Multi-Modal Learning: Generalist Model and Benchmark Datasetcited by 10
2024FlexEvent: Towards Flexible Event-Frame Object Detection at Varying Operational Frequenciescited by 10
2022Spiking Neural Networks for event-based action recognition: A new task to understand their advantagecited by 9
2023Low-power, Continuous Remote Behavioral Localization with Event Camerascited by 9
2024Towards Real-Time Fast Unmanned Aerial Vehicle Detection Using Dynamic Vision Sensorscited by 9
2024A Recurrent YOLOv8-based framework for Event-Based Object Detectioncited by 9
2024EvRT-DETR: Latent Space Adaptation of Image Detectors for Event-based Visioncited by 9
2024Spiking CenterNet: A Distillation-boosted Spiking Neural Network for Object Detectioncited by 8
2025Adaptive Event Stream Slicing for Open-Vocabulary Event-Based Object Detection via Vision-Language Knowledge Distillationcited by 8
2024ADV2E: Bridging the Gap Between Analogue Circuit and Discrete Frames in the Video-to-Events Simulatorcited by 7
2025Hybrid Spiking Vision Transformer for Object Detection with Event Camerascited by 7
2023SpikeMOT: Event-based Multi-Object Tracking with Sparse Motion Featurescited by 6
2024ShapeAug: Occlusion Augmentation for Event Camera Datacited by 6
2024CoSEC: A Coaxial Stereo Event Camera Dataset for Autonomous Drivingcited by 6
2023Automotive Object Detection via Learning Sparse Events by Spiking Neuronscited by 5
2024Efficient Event-Based Object Detection: A Hybrid Neural Network with Spatial and Temporal Attentioncited by 5
2024MouseSIS: A Frames-and-Events Dataset for Space-Time Instance Segmentation of Micecited by 5

50 most cited of 108 All 108 (JSON)