{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T15:50:51Z","timestamp":1776181851726,"version":"3.50.1"},"reference-count":21,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2017,2,1]],"date-time":"2017-02-01T00:00:00Z","timestamp":1485907200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"Qualcomm Innovation Fellowship"},{"name":"Google Faculty Research Award"},{"name":"National Centre of Competence in Research (NCCR) Robotics"},{"name":"DARPA FLA"},{"name":"UZH Forschungskredit"},{"DOI":"10.13039\/501100001711","name":"Swiss National Science Foundation","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100001711","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2017,2]]},"abstract":"<jats:p> New vision sensors, such as the dynamic and active-pixel vision sensor (DAVIS), incorporate a conventional global-shutter camera and an event-based sensor in the same pixel array. These sensors have great potential for high-speed robotics and computer vision because they allow us to combine the benefits of conventional cameras with those of event-based sensors: low latency, high temporal resolution, and very high dynamic range. However, new algorithms are required to exploit the sensor characteristics and cope with its unconventional output, which consists of a stream of asynchronous brightness changes (called \u201cevents\u201d) and synchronous grayscale frames. For this purpose, we present and release a collection of datasets captured with a DAVIS in a variety of synthetic and real environments, which we hope will motivate research on new algorithms for high-speed and high-dynamic-range robotics and computer-vision applications. In addition to global-shutter intensity images and asynchronous events, we provide inertial measurements and ground-truth camera poses from a motion-capture system. The latter allows comparing the pose accuracy of ego-motion estimation algorithms quantitatively. All the data are released both as standard text files and binary files (i.e. rosbag). This paper provides an overview of the available data and describes a simulator that we release open-source to create synthetic event-camera data. <\/jats:p>","DOI":"10.1177\/0278364917691115","type":"journal-article","created":{"date-parts":[[2017,2,17]],"date-time":"2017-02-17T10:58:12Z","timestamp":1487329092000},"page":"142-149","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":551,"title":["The event-camera dataset and simulator: Event-based data for pose estimation, visual odometry, and SLAM"],"prefix":"10.1177","volume":"36","author":[{"given":"Elias","family":"Mueggler","sequence":"first","affiliation":[{"name":"Robotics and Perception Group, University of Zurich, Switzerland"}]},{"given":"Henri","family":"Rebecq","sequence":"additional","affiliation":[{"name":"Robotics and Perception Group, University of Zurich, Switzerland"}]},{"given":"Guillermo","family":"Gallego","sequence":"additional","affiliation":[{"name":"Robotics and Perception Group, University of Zurich, Switzerland"}]},{"given":"Tobi","family":"Delbruck","sequence":"additional","affiliation":[{"name":"Institute of Neuroinformatics, Zurich, Switzerland"},{"name":"University of Zurich, Switzerland"},{"name":"ETH Zurich, Switzerland"}]},{"given":"Davide","family":"Scaramuzza","sequence":"additional","affiliation":[{"name":"Robotics and Perception Group, University of Zurich, Switzerland"}]}],"member":"179","published-online":{"date-parts":[[2017,2,17]]},"reference":[{"key":"bibr1-0278364917691115","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.102"},{"issue":"49","key":"bibr2-0278364917691115","volume":"10","author":"Barranco F","year":"2016","journal-title":"Frontiers in Neuroscience"},{"key":"bibr3-0278364917691115","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2013.2273537"},{"key":"bibr4-0278364917691115","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2014.2342715"},{"key":"bibr5-0278364917691115","unstructured":"Breckenridge WG (1979) Quaternions \u2013 proposed standard conventions. 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