# Cooking beyond Frames: A Stereo Event Camera Dataset in the Kitchen

arXiv: https://arxiv.org/abs/2608.04865 · HTML: https://mlsanity.com/paper/2608.04865/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 50 of its 79 references that are in the map.
- First posted on arXiv 5 Aug 2026.

## Builds on (most cited first, 30 of 50)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Quo Vadis, Action Recognition? A New Model and the Kinetics Dataset](https://mlsanity.com/paper/1705.07750/) (2017)
- [An overview of gradient descent optimization algorithms](https://mlsanity.com/paper/1609.04747/) (2016)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [TSM: Temporal Shift Module for Efficient Video Understanding](https://mlsanity.com/paper/1811.08383/) (2018)
- [Scaling Egocentric Vision: The EPIC-KITCHENS Dataset](https://mlsanity.com/paper/1804.02748/) (2018)
- [YOLOv10: Real-Time End-to-End Object Detection](https://mlsanity.com/paper/2405.14458/) (2024)
- [Converting Static Image Datasets to Spiking Neuromorphic Datasets Using Saccades](https://mlsanity.com/paper/1507.07629/) (2015)
- [Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotion](https://mlsanity.com/paper/1812.08156/) (2018)
- [DSEC: A Stereo Event Camera Dataset for Driving Scenarios](https://mlsanity.com/paper/2103.06011/) (2021)
- [The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception](https://mlsanity.com/paper/1801.10202/) (2018)
- [HATS: Histograms of Averaged Time Surfaces for Robust Event-based Object Classification](https://mlsanity.com/paper/1803.07913/) (2018)
- [Events-to-Video: Bringing Modern Computer Vision to Event Cameras](https://mlsanity.com/paper/1904.08298/) (2019)
- [Learning to Detect Objects with a 1 Megapixel Event Camera](https://mlsanity.com/paper/2009.13436/) (2020)
- [FoundationStereo: Zero-Shot Stereo Matching](https://mlsanity.com/paper/2501.09898/) (2025)
- [The VIA Annotation Software for Images, Audio and Video](https://mlsanity.com/paper/1904.10699/) (2019)
- [Video to Events: Recycling Video Datasets for Event Cameras](https://mlsanity.com/paper/1912.03095/) (2019)
- [Recurrent Vision Transformers for Object Detection with Event Cameras](https://mlsanity.com/paper/2212.05598/) (2022)
- [EPIC-KITCHENS VISOR Benchmark: VIdeo Segmentations and Object Relations](https://mlsanity.com/paper/2209.13064/) (2022)
- [Event-Based Fusion for Motion Deblurring with Cross-modal Attention](https://mlsanity.com/paper/2112.00167/) (2021)
- [Time Lens++: Event-based Frame Interpolation with Parametric Non-linear Flow and Multi-scale Fusion](https://mlsanity.com/paper/2203.17191/) (2022)
- [A Large Scale Event-based Detection Dataset for Automotive](https://mlsanity.com/paper/2001.08499/) (2020)
- [HD-EPIC: A Highly-Detailed Egocentric Video Dataset](https://mlsanity.com/paper/2502.04144/) (2025)
- [Event-based High Dynamic Range Image and Very High Frame Rate Video Generation using Conditional Generative Adversarial Networks](https://mlsanity.com/paper/1811.08230/) (2018)
- [N-ImageNet: Towards Robust, Fine-Grained Object Recognition with Event Cameras](https://mlsanity.com/paper/2112.01041/) (2021)
- [An Outlook into the Future of Egocentric Vision](https://mlsanity.com/paper/2308.07123/) (2023)
- [DDD20 End-to-End Event Camera Driving Dataset: Fusing Frames and Events with Deep Learning for Improved Steering Prediction](https://mlsanity.com/paper/2005.08605/) (2020)
- [How to Calibrate Your Event Camera](https://mlsanity.com/paper/2105.12362/) (2021)

## Abstract (arXiv)

Event cameras, also known as neuromorphic cameras, have gained significant attention in recent years due to their high temporal resolution, high dynamic range, and low power consumption. While many studies and datasets in neuromorphic vision have focused on automotive and drone applications, human-centric daily-life scenarios remain largely underrepresented, despite their importance for developing and benchmarking event-based perception systems. Moreover, the few existing event-based human activity datasets are typically recorded with scripted human actions, limiting their ability to capture natural human behaviors. In this paper, we introduce EventKitchen, a large-scale stereo event camera benchmark dataset of human cooking activities in the kitchen. EventKitchen is egocentrically collected from 10 participants in 13 diverse kitchens, where the participants wear a helmet with multiple sensors and naturally perform cooking activities, without any scripted actions. EventKitchen comprises 5.5 hours of stereo event recordings with synchronized RGB, depth, and IMU data. We provide human annotations for 10,762 action segments and 13,482 bounding boxes. We train baseline models on EventKitchen to perform multiple event-based tasks, including action recognition, object detection, and stereo depth estimation. By capturing natural, real-world human activities, EventKitchen establishes a challenging benchmark for neuromorphic vision beyond autonomous driving.