A Neuromorphic Dataset for Object Segmentation in Indoor Cluttered Environment

Taking advantage of an event-based camera, the issues of motion blur, low dynamic range and low time sampling of standard cameras can all be addressed. However, there is a lack of event-based datasets dedicated to the benchmarking of segmentation algorithms, especially those that provide depth information which is critical for segmentation in occluded scenes. This paper proposes a new Event-based Segmentation Dataset (ESD), a high-quality 3D spatial and temporal dataset for object segmentation in an indoor cluttered environment. Our proposed dataset ESD comprises 145 sequences with 14,166 RGB frames that are manually annotated with instance masks. Overall 21.88 million and 20.80 million events from two event-based cameras in a stereo-graphic configuration are collected, respectively. To the best of our knowledge, this densely annotated and 3D spatial-temporal event-based segmentation benchmark of tabletop objects is the first of its kind. By releasing ESD, we expect to provide the community with a challenging segmentation benchmark with high quality.