mlsanityData to 7 Oct 2026

eTraM: Event-based Traffic Monitoring Dataset

arXiv 2403.19976 ↗First posted 29 Mar 2024cs.CVcited by 24

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Abstract (arXiv)

Event cameras, with their high temporal and dynamic range and minimal memory usage, have found applications in various fields. However, their potential in static traffic monitoring remains largely unexplored. To facilitate this exploration, we present eTraM - a first-of-its-kind, fully event-based traffic monitoring dataset. eTraM offers 10 hr of data from different traffic scenarios in various lighting and weather conditions, providing a comprehensive overview of real-world situations. Providing 2M bounding box annotations, it covers eight distinct classes of traffic participants, ranging from vehicles to pedestrians and micro-mobility. eTraM's utility has been assessed using state-of-the-art methods for traffic participant detection, including RVT, RED, and YOLOv8. We quantitatively evaluate the ability of event-based models to generalize on nighttime and unseen scenes. Our findings substantiate the compelling potential of leveraging event cameras for traffic monitoring, opening new avenues for research and application. eTraM is available at https://eventbasedvision.github.io/eTraM

Key facts. Cited by 24 papers in the map (data through 7 Oct 2026). Builds on 20 of its 48 references that are in the map. First posted on arXiv 29 Mar 2024.

Builds on

20 of 48 references.

References · 20

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  3. 2019Event-based Vision: A Surveycited by 1,010
  4. 2019High Speed and High Dynamic Range Video with an Event Cameracited by 344
  5. 2015Converting Static Image Datasets to Spiking Neuromorphic Datasets Using Saccadescited by 308
  6. 2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 297
  7. 2018The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perceptioncited by 251
  8. 2018Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Carscited by 197
  9. 2020Learning to Detect Objects with a 1 Megapixel Event Cameracited by 184
  10. 2022Recurrent Vision Transformers for Object Detection with Event Camerascited by 158
  11. 2020A Large Scale Event-based Detection Dataset for Automotivecited by 108
  12. 2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
8 more
  1. 2023Prompt to Transfer: Sim-to-Real Transfer for Traffic Signal Control with Prompt Learningcited by 36
  2. 2022LibSignal: An Open Library for Traffic Signal Controlcited by 16
  3. 2016Steering a Predator Robot using a Mixed Frame/Event-Driven Convolutional Neural Networkcited by 15
  4. 2022SafeLight: A Reinforcement Learning Method toward Collision-free Traffic Signal Controlcited by 15
  5. 2022Modeling Network-level Traffic Flow Transitions on Sparse Datacited by 12
  6. 2023CAROM Air -- Vehicle Localization and Traffic Scene Reconstruction from Aerial Videoscited by 7
  7. 2021Learning to Simulate on Sparse Trajectory Datacited by 6
  8. 2020On the safety of vulnerable road users by cyclist orientation detection using Deep Learningcited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 5; 2025: 9; 2026: 10.

24 papers.

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  1. 2024Recent Event Camera Innovations: A Surveycited by 67
  2. 2024Object Detection using Event Camera: A MoE Heat Conduction based Detector and A New Benchmark Datasetcited by 25
  3. 2024SEVD: Synthetic Event-based Vision Dataset for Ego and Fixed Traffic Perceptioncited by 15
  4. 2024NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban Environmentscited by 7
  5. 2025Event Quality Score (EQS): Assessing the Realism of Simulated Event Camera Streams via Distances in Latent Spacecited by 7
  6. 2025How Real is CARLAs Dynamic Vision Sensor? A Study on the Sim-to-Real Gap in Traffic Object Detectioncited by 6
  7. 2024MouseSIS: A Frames-and-Events Dataset for Space-Time Instance Segmentation of Micecited by 5
  8. 2025SEBVS: Synthetic Event-based Visual Servoing for Robot Navigation and Manipulationcited by 5
  9. 2025PEOD: A Pixel-Aligned Event-RGB Benchmark for Object Detection under Challenging Conditionscited by 4
  10. 2025SEPose: A Synthetic Event-based Human Pose Estimation Dataset for Pedestrian Monitoringcited by 2
  11. 2025Event-based Graph Representation with Spatial and Motion Vectors for Asynchronous Object Detectioncited by 2
  12. 2026TSBOW -- Traffic Surveillance Benchmark for Occluded Vehicles Under Various Weather Conditionscited by 2
12 more
  1. 2025Helios 2.0: A Robust, Ultra-Low Power Gesture Recognition System Optimised for Event-Sensor based Wearablescited by 1
  2. 2025EventBench: Towards Comprehensive Benchmarking of Event-based MLLMscited by 1
  3. 2026E-TIDE: Fast, Structure-Preserving Motion Forecasting from Event Sequencescited by 1
  4. 2026Rethinking Event-Based Object Detection through Representation-Level Temporal Aggregation and Model-Level Hypergraph Reasoningcited by 1
  5. 2025Reconstruction as a Bridge for Event-Based Visual Question Answeringcited by 0
  6. 2026eSkiTB: A Synthetic Event-based Dataset for Tracking Skierscited by 0
  7. 2026EdgeVTP: Exploration of Latency-efficient Trajectory Prediction for Edge-based Embedded Vision Applicationscited by 0
  8. 2026AdaFuse-Det: Adaptive Cross-Modal Fusion of Event Cameras for Robust Object Detection in Low-Light RGB Imagerycited by 0
  9. 2026Event-RGB Adaptive Tracking for Nighttime Highway Perceptioncited by 0
  10. 2026Neuromorphic Object Detection: An In-Depth Study and Future Directionscited by 0
  11. 2026ETHEREAL: A 25.6-μs/inf. Low-latency Event-driven Graph-neural-network Processor for High-resolution Vision at the Edgecited by 0
  12. 2026Real-time Unsupervised Object Discovery from Asynchronous Event Streamscited by 0