mlsanityData to 7 Oct 2026

DSEC: A Stereo Event Camera Dataset for Driving Scenarios

arXiv 2103.06011 ↗First posted 10 Mar 2021cs.CV cs.ROcited by 297

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Abstract (arXiv)

Once an academic venture, autonomous driving has received unparalleled corporate funding in the last decade. Still, the operating conditions of current autonomous cars are mostly restricted to ideal scenarios. This means that driving in challenging illumination conditions such as night, sunrise, and sunset remains an open problem. In these cases, standard cameras are being pushed to their limits in terms of low light and high dynamic range performance. To address these challenges, we propose, DSEC, a new dataset that contains such demanding illumination conditions and provides a rich set of sensory data. DSEC offers data from a wide-baseline stereo setup of two color frame cameras and two high-resolution monochrome event cameras. In addition, we collect lidar data and RTK GPS measurements, both hardware synchronized with all camera data. One of the distinctive features of this dataset is the inclusion of high-resolution event cameras. Event cameras have received increasing attention for their high temporal resolution and high dynamic range performance. However, due to their novelty, event camera datasets in driving scenarios are rare. This work presents the first high-resolution, large-scale stereo dataset with event cameras. The dataset contains 53 sequences collected by driving in a variety of illumination conditions and provides ground truth disparity for the development and evaluation of event-based stereo algorithms.

Key facts. Cited by 297 papers in the map (data through 7 Oct 2026). Builds on 27 of its 51 references that are in the map. First posted on arXiv 10 Mar 2021.

Builds on

27 of 51 references.

References · 27

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,427
  3. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  4. 2018BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learningcited by 1,282
  5. 2019Event-based Vision: A Surveycited by 1,010
  6. 20193D Packing for Self-Supervised Monocular Depth Estimationcited by 437
  7. 2019High Speed and High Dynamic Range Video with an Event Cameracited by 344
  8. 2016Virtual Worlds as Proxy for Multi-Object Tracking Analysiscited by 340
  9. 2017Sparsity Invariant CNNscited by 325
  10. 2018Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotioncited by 304
  11. 2018The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perceptioncited by 251
  12. 2018HATS: Histograms of Averaged Time Surfaces for Robust Event-based Object Classificationcited by 215
15 more
  1. 2020A2D2: Audi Autonomous Driving Datasetcited by 189
  2. 2020Learning to Detect Objects with a 1 Megapixel Event Cameracited by 184
  3. 2018Bringing a Blurry Frame Alive at High Frame-Rate with an Event Cameracited by 141
  4. 2018Asynchronous, Photometric Feature Tracking using Events and Framescited by 118
  5. 2020A Large Scale Event-based Detection Dataset for Automotivecited by 108
  6. 2017DDD17: End-To-End DAVIS Driving Datasetcited by 83
  7. 2020Learning Event-Based Motion Deblurringcited by 81
  8. 2018Semi-Dense 3D Reconstruction with a Stereo Event Cameracited by 67
  9. 2020DDD20 End-to-End Event Camera Driving Dataset: Fusing Frames and Events with Deep Learning for Improved Steering Predictioncited by 56
  10. 2015Semantic Instance Annotation of Street Scenes by 3D to 2D Label Transfercited by 39
  11. 2020Event-based visual place recognition with ensembles of temporal windowscited by 35
  12. 2019Tightly Coupled 3D Lidar Inertial Odometry and Mappingcited by 34
  13. 2020Single Image Optical Flow Estimation with an Event Cameracited by 34
  14. 2018Realtime Time Synchronized Event-based Stereocited by 28
  15. 2018Asynchronous Spatial Image Convolutions for Event Camerascited by 18

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 10; 2022: 33; 2023: 40; 2024: 68; 2025: 87; 2026: 59.

297 papers.

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  1. 2025Depth Anything 3: Recovering the Visual Space from Any Viewscited by 626
  2. 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 389
  3. 2023Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Imagecited by 357
  4. 2021Training Spiking Neural Networks Using Lessons From Deep Learningcited by 251
  5. 2022Recurrent Vision Transformers for Object Detection with Event Camerascited by 158
  6. 2021E-RAFT: Dense Optical Flow from Event Camerascited by 149
  7. 2022AEGNN: Asynchronous Event-based Graph Neural Networkscited by 118
  8. 2022Secrets of Event-Based Optical Flowcited by 92
  9. 2022Event-aided Direct Sparse Odometrycited by 91
  10. 2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
  11. 2022ESS: Learning Event-based Semantic Segmentation from Still Imagescited by 81
  12. 2024State Space Models for Event Camerascited by 75
38 more
  1. 2024Recent Event Camera Innovations: A Surveycited by 67
  2. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  3. 2022Learning Dense and Continuous Optical Flow from an Event Cameracited by 59
  4. 2021How to Calibrate Your Event Cameracited by 53
  5. 2021E2(GO)MOTION: Motion Augmented Event Stream for Egocentric Action Recognitioncited by 50
  6. 2023Event Camera Data Pre-trainingcited by 49
  7. 2022Open Challenges in Deep Stereo: the Booster Datasetcited by 48
  8. 2023NeRF-Supervised Deep Stereocited by 46
  9. 2022Dense Continuous-Time Optical Flow from Events and Framescited by 45
  10. 2022VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAMcited by 45
  11. 2023Hierarchical Neural Memory Network for Low Latency Event Processingcited by 45
  12. 2021TUM-VIE: The TUM Stereo Visual-Inertial Event Datasetcited by 41
  13. 2022Masked Event Modeling: Self-Supervised Pretraining for Event Camerascited by 40
  14. 2022RGB-Event Fusion for Moving Object Detection in Autonomous Drivingcited by 39
  15. 2023Taming Contrast Maximization for Learning Sequential, Low-latency, Event-based Optical Flowcited by 39
  16. 2024OpenESS: Event-based Semantic Scene Understanding with Open Vocabulariescited by 37
  17. 2022ViViD++: Vision for Visibility Datasetcited by 34
  18. 2022Event Collapse in Contrast Maximization Frameworkscited by 33
  19. 2023Booster: a Benchmark for Depth from Images of Specular and Transparent Surfacescited by 33
  20. 2023Optical flow estimation from event-based cameras and spiking neural networkscited by 33
  21. 2023BlinkFlow: A Dataset to Push the Limits of Event-based Optical Flow Estimationcited by 33
  22. 2024Seeing Motion at Nighttime with an Event Cameracited by 33
  23. 2022Guided Co-Modulated GAN for 360deg Field of View Extrapolationcited by 32
  24. 2022Pushing the Limits of Asynchronous Graph-based Object Detection with Event Camerascited by 32
  25. 2024MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertaintycited by 32
  26. 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
  27. 2022Lightweight Event-based Optical Flow Estimation via Iterative Deblurringcited by 31
  28. 2023TMA: Temporal Motion Aggregation for Event-based Optical Flowcited by 31
  29. 2023CMDA: Cross-Modality Domain Adaptation for Nighttime Semantic Segmentationcited by 30
  30. 2021Formulating Event-based Image Reconstruction as a Linear Inverse Problem with Deep Regularization using Optical Flowcited by 28
  31. 2024Embracing Events and Frames with Hierarchical Feature Refinement Network for Object Detectioncited by 27
  32. 2024EventGPT: Event Stream Understanding with Multimodal Large Language Modelscited by 27
  33. 2023Learning Optical Flow from Event Camera with Rendered Datasetcited by 26
  34. 2023RPEFlow: Multimodal Fusion of RGB-PointCloud-Event for Joint Optical Flow and Scene Flow Estimationcited by 26
  35. 2024Object Detection using Event Camera: A MoE Heat Conduction based Detector and A New Benchmark Datasetcited by 25
  36. 2021EventPoint: Self-Supervised Interest Point Detection and Description for Event-based Cameracited by 24
  37. 2022HALSIE: Hybrid Approach to Learning Segmentation by Simultaneously Exploiting Image and Event Modalitiescited by 24
  38. 2023EVREAL: Towards a Comprehensive Benchmark and Analysis Suite for Event-based Video Reconstructioncited by 24

50 most cited of 297 All 297 (JSON)