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However, a lack of dedicated event-based datasets for benchmarking segmentation algorithms, especially those offering critical depth information for occluded scenes, has been observed. In response, this paper introduces a novel Event-based Segmentation Dataset (ESD), a high-quality event 3D spatial-temporal dataset designed for indoor object segmentation within cluttered environments. ESD encompasses 145 sequences featuring 14,166 manually annotated RGB frames, along with a substantial event count of 21.88 million and 20.80 million events from two stereo-configured event-based cameras. Notably, this densely annotated 3D spatial-temporal event-based segmentation benchmark for tabletop objects represents a pioneering initiative, providing event-wise depth, and annotated instance labels, in addition to corresponding RGBD frames. By releasing ESD, our aim is to offer the research community a challenging segmentation benchmark of exceptional quality.<\/jats:p>","DOI":"10.1038\/s41597-024-02920-1","type":"journal-article","created":{"date-parts":[[2024,1,25]],"date-time":"2024-01-25T11:03:47Z","timestamp":1706180627000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A neuromorphic dataset for tabletop object segmentation in indoor cluttered environment"],"prefix":"10.1038","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2782-9068","authenticated-orcid":false,"given":"Xiaoqian","family":"Huang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1496-2070","authenticated-orcid":false,"given":"Sanket","family":"Kachole","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3006-2320","authenticated-orcid":false,"given":"Abdulla","family":"Ayyad","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7113-0556","authenticated-orcid":false,"given":"Fariborz Baghaei","family":"Naeini","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6170-0236","authenticated-orcid":false,"given":"Dimitrios","family":"Makris","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4331-7254","authenticated-orcid":false,"given":"Yahya","family":"Zweiri","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,1,25]]},"reference":[{"key":"2920_CR1","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1109\/MRA.2012.2191995","volume":"19","author":"S Chitta","year":"2012","unstructured":"Chitta, S., Jones, E. 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