# eCARLA-scenes: A synthetically generated dataset for event-based optical flow prediction

arXiv: https://arxiv.org/abs/2412.09209 · HTML: https://mlsanity.com/paper/2412.09209/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 3 of its 35 references that are in the map.
- First posted on arXiv 12 Dec 2024.

## Builds on (most cited first, 3 of 3)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Cameras](https://mlsanity.com/paper/1802.06898/) (2018)
- [Secrets of Event-Based Optical Flow](https://mlsanity.com/paper/2207.10022/) (2022)

## Built on by (most cited first, 1 of 1)

- [UEOF: A Benchmark Dataset for Underwater Event-Based Optical Flow](https://mlsanity.com/paper/2601.10054/) (2026)

## Abstract (arXiv)

The joint use of event-based vision and Spiking Neural Networks (SNNs) is expected to have a large impact in robotics in the near future, in tasks such as, visual odometry and obstacle avoidance. While researchers have used real-world event datasets for optical flow prediction (mostly captured with Unmanned Aerial Vehicles (UAVs)), these datasets are limited in diversity, scalability, and are challenging to collect. Thus, synthetic datasets offer a scalable alternative by bridging the gap between reality and simulation. In this work, we address the lack of datasets by introducing eWiz, a comprehensive library for processing event-based data. It includes tools for data loading, augmentation, visualization, encoding, and generation of training data, along with loss functions and performance metrics. We further present a synthetic event-based datasets and data generation pipelines for optical flow prediction tasks. Built on top of eWiz, eCARLA-scenes makes use of the CARLA simulator to simulate self-driving car scenarios. The ultimate goal of this dataset is the depiction of diverse environments while laying a foundation for advancing event-based camera applications in autonomous field vehicle navigation, paving the way for using SNNs on neuromorphic hardware such as the Intel Loihi.