Download

The data is split into training and test set. While ground truth data is available for the training data, it is retained for the test data with the exception of the semantic segmentation masks.

Dataset files are provided in larger files of multiple sequences or individual files per sequence.

Multi-Sequence Files

These files contain the whole dataset in larger files to simplify the download.

Training Data

train_events.zip (125 GB)
train_images.zip (216 GB)
train_disparity.zip (12 GB)
train_optical_flow.zip (3.7 GB)
train_semantic_segmentation.zip (88.6 MB)
train_calibration.zip

Test Data

test_events.zip (27 GB)
test_images.zip (43 GB)
test_semantic_segmentation.zip (28.9 MB)
test_calibration.zip

Lidar and Imu Data (Train + Test)

Contains Lidar and IMU data in rosbag format together with the calibration files.

lidar_imu.zip (26 GB)

Evaluation

The files contain timestamps and corresponding image indices that specify when a prediction is evaluated with the corresponding ground truth by the evaluation script.

test_disparity_timestamps.zip
test_foward_optical_flow_timestamps.zip

Citation

When using this work in an academic context, please cite the following publications:

@Article{Gehrig21ral,
author = {Mathias Gehrig and Willem Aarents and Daniel Gehrig and Davide Scaramuzza},
title = {DSEC: A Stereo Event Camera Dataset for Driving Scenarios},
journal = {IEEE Robotics and Automation Letters},
year = {2021},
doi = {10.1109/LRA.2021.3068942}
}

@Article{Gehrig21threedv,
  author        = {Mathias Gehrig and Mario Millh\"ausler and Daniel Gehrig and
                  Davide Scaramuzza},
  title         = {{E}-{RAFT}: Dense Optical Flow from Event Cameras},
  journal       = {International Conference on 3D Vision (3DV)},
  year          = 2021
}

When using the semantic segmentation masks in an academic context, please cite additionally the following publication:

@Article{Sun22eccv,
  author  = {Zhaoning Sun* and Nico Messikommer* and Daniel Gehrig and Davide Scaramuzza},
  title   = {ESS: Learning Event-based Semantic Segmentation from Still Images},
  journal = {European Conference on Computer Vision. (ECCV)},
  year    = {2022},
}

Individual Files

The following files contain the whole dataset but in individual files per sequence.

Training Sequences

interlaken_00_c		Ground Truth Data
		disparity_event.zip (39 MB) disparity_image.zip (107 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (816 MB) events_right.zip (769 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.2 GB) images_rectified_right.zip (1.2 GB)
interlaken_00_d		Ground Truth Data
		disparity_event.zip (145 MB) disparity_image.zip (388 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (3.1 GB) events_right.zip (3.0 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (4.3 GB) images_rectified_right.zip (4.2 GB)
interlaken_00_e		Ground Truth Data
		disparity_event.zip (121 MB) disparity_image.zip (322 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (2.4 GB) events_right.zip (2.4 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (4.0 GB) images_rectified_right.zip (3.9 GB)
interlaken_00_f		Ground Truth Data
		disparity_event.zip (75 MB) disparity_image.zip (204 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.2 GB) events_right.zip (1.2 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.7 GB) images_rectified_right.zip (2.7 GB)
interlaken_00_g		Ground Truth Data
		disparity_event.zip (87 MB) disparity_image.zip (235 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.2 GB) events_right.zip (1.2 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.3 GB) images_rectified_right.zip (2.2 GB)
thun_00_a		Ground Truth Data
		disparity_event.zip (17 MB) disparity_image.zip (45 MB) disparity_timestamps.txt optical_flow_forward_event.zip (11 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (10 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (285 MB) events_right.zip (261 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (470 MB) images_rectified_right.zip (457 MB)
zurich_city_00_a		Ground Truth Data
		disparity_event.zip (62 MB) disparity_image.zip (177 MB) disparity_timestamps.txt semantic_segmentation.zip (11 MB)
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (997 MB) events_right.zip (861 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.8 GB) images_rectified_right.zip (1.8 GB)
zurich_city_00_b		Ground Truth Data
		disparity_event.zip (94 MB) disparity_image.zip (284 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.2 GB) events_right.zip (1.0 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.9 GB) images_rectified_right.zip (2.9 GB)
zurich_city_01_a		Ground Truth Data
		disparity_event.zip (48 MB) disparity_image.zip (137 MB) disparity_timestamps.txt optical_flow_forward_event.zip (26 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (26 MB) optical_flow_backward_timestamps.txt semantic_segmentation.zip (7 MB)
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (678 MB) events_right.zip (547 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.3 GB) images_rectified_right.zip (1.3 GB)
zurich_city_01_b		Ground Truth Data
		disparity_event.zip (77 MB) disparity_image.zip (214 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.5 GB) events_right.zip (1.3 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.7 GB) images_rectified_right.zip (2.8 GB)
zurich_city_01_c		Ground Truth Data
		disparity_event.zip (50 MB) disparity_image.zip (137 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.3 GB) events_right.zip (1.1 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.0 GB) images_rectified_right.zip (2.0 GB)
zurich_city_01_d		Ground Truth Data
		disparity_event.zip (42 MB) disparity_image.zip (118 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (950 MB) events_right.zip (829 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.6 GB) images_rectified_right.zip (1.6 GB)
zurich_city_01_e		Ground Truth Data
		disparity_event.zip (109 MB) disparity_image.zip (304 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (2.0 GB) events_right.zip (1.7 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (4.1 GB) images_rectified_right.zip (4.2 GB)
zurich_city_01_f		Ground Truth Data
		disparity_event.zip (95 MB) disparity_image.zip (263 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (2.0 GB) events_right.zip (1.7 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.4 GB) images_rectified_right.zip (3.4 GB)
zurich_city_02_a		Ground Truth Data
		disparity_event.zip (15 MB) disparity_image.zip (43 MB) disparity_timestamps.txt optical_flow_forward_event.zip (16 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (15 MB) optical_flow_backward_timestamps.txt semantic_segmentation.zip (2 MB)
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (340 MB) events_right.zip (269 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (501 MB) images_rectified_right.zip (508 MB)
zurich_city_02_b		Ground Truth Data
		disparity_event.zip (64 MB) disparity_image.zip (185 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.8 GB) events_right.zip (1.5 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.8 GB) images_rectified_right.zip (2.9 GB)
zurich_city_02_c		Ground Truth Data
		disparity_event.zip (123 MB) disparity_image.zip (342 MB) disparity_timestamps.txt optical_flow_forward_event.zip (130 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (127 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (4.9 GB) events_right.zip (4.3 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (6.5 GB) images_rectified_right.zip (6.6 GB)
zurich_city_02_d		Ground Truth Data
		disparity_event.zip (72 MB) disparity_image.zip (204 MB) disparity_timestamps.txt optical_flow_forward_event.zip (55 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (53 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.7 GB) events_right.zip (1.4 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (4.3 GB) images_rectified_right.zip (4.4 GB)
zurich_city_02_e		Ground Truth Data
		disparity_event.zip (77 MB) disparity_image.zip (211 MB) disparity_timestamps.txt optical_flow_forward_event.zip (77 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (75 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (3.2 GB) events_right.zip (2.9 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (4.3 GB) images_rectified_right.zip (4.4 GB)
zurich_city_03_a		Ground Truth Data
		disparity_event.zip (40 MB) disparity_image.zip (106 MB) disparity_timestamps.txt optical_flow_forward_event.zip (67 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (67 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.6 GB) events_right.zip (1.6 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.8 GB) images_rectified_right.zip (1.8 GB)
zurich_city_04_a		Ground Truth Data
		disparity_event.zip (57 MB) disparity_image.zip (167 MB) disparity_timestamps.txt semantic_segmentation.zip (7 MB)
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (726 MB) events_right.zip (593 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.4 GB) images_rectified_right.zip (1.4 GB)
zurich_city_04_b		Ground Truth Data
		disparity_event.zip (22 MB) disparity_image.zip (64 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (264 MB) events_right.zip (252 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (543 MB) images_rectified_right.zip (537 MB)
zurich_city_04_c		Ground Truth Data
		disparity_event.zip (81 MB) disparity_image.zip (237 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (925 MB) events_right.zip (765 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.2 GB) images_rectified_right.zip (2.2 GB)
zurich_city_04_d		Ground Truth Data
		disparity_event.zip (61 MB) disparity_image.zip (173 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (772 MB) events_right.zip (679 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.7 GB) images_rectified_right.zip (1.7 GB)
zurich_city_04_e		Ground Truth Data
		disparity_event.zip (18 MB) disparity_image.zip (53 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (261 MB) events_right.zip (227 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (522 MB) images_rectified_right.zip (514 MB)
zurich_city_04_f		Ground Truth Data
		disparity_event.zip (52 MB) disparity_image.zip (150 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (799 MB) events_right.zip (620 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.6 GB) images_rectified_right.zip (1.6 GB)
zurich_city_05_a		Ground Truth Data
		disparity_event.zip (150 MB) disparity_image.zip (427 MB) disparity_timestamps.txt optical_flow_forward_event.zip (189 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (185 MB) optical_flow_backward_timestamps.txt semantic_segmentation.zip (20 MB)
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.8 GB) events_right.zip (1.6 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.4 GB) images_rectified_right.zip (3.3 GB)
zurich_city_05_b		Ground Truth Data
		disparity_event.zip (125 MB) disparity_image.zip (353 MB) disparity_timestamps.txt optical_flow_forward_event.zip (119 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (116 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.8 GB) events_right.zip (1.6 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.1 GB) images_rectified_right.zip (3.0 GB)
zurich_city_06_a		Ground Truth Data
		disparity_event.zip (129 MB) disparity_image.zip (354 MB) disparity_timestamps.txt optical_flow_forward_event.zip (192 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (188 MB) optical_flow_backward_timestamps.txt semantic_segmentation.zip (15 MB)
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (2.5 GB) events_right.zip (2.1 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.3 GB) images_rectified_right.zip (3.3 GB)
zurich_city_07_a		Ground Truth Data
		disparity_event.zip (101 MB) disparity_image.zip (295 MB) disparity_timestamps.txt optical_flow_forward_event.zip (27 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (26 MB) optical_flow_backward_timestamps.txt semantic_segmentation.zip (15 MB)
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.7 GB) events_right.zip (1.5 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.9 GB) images_rectified_right.zip (2.9 GB)
zurich_city_08_a		Ground Truth Data
		disparity_event.zip (69 MB) disparity_image.zip (200 MB) disparity_timestamps.txt optical_flow_forward_event.zip (114 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (111 MB) optical_flow_backward_timestamps.txt semantic_segmentation.zip (8 MB)
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (978 MB) events_right.zip (806 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.4 GB) images_rectified_right.zip (1.4 GB)
zurich_city_09_a		Ground Truth Data
		disparity_event.zip (69 MB) disparity_image.zip (174 MB) disparity_timestamps.txt optical_flow_forward_event.zip (88 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (86 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (2.8 GB) events_right.zip (2.5 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.4 GB) images_rectified_right.zip (3.4 GB)
zurich_city_09_b		Ground Truth Data
		disparity_event.zip (12 MB) disparity_image.zip (32 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (368 MB) events_right.zip (299 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (743 MB) images_rectified_right.zip (745 MB)
zurich_city_09_c		Ground Truth Data
		disparity_event.zip (52 MB) disparity_image.zip (143 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.3 GB) events_right.zip (1.1 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.7 GB) images_rectified_right.zip (2.7 GB)
zurich_city_09_d		Ground Truth Data
		disparity_event.zip (57 MB) disparity_image.zip (155 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.7 GB) events_right.zip (1.5 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.4 GB) images_rectified_right.zip (3.4 GB)
zurich_city_09_e		Ground Truth Data
		disparity_event.zip (26 MB) disparity_image.zip (69 MB) disparity_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (844 MB) events_right.zip (751 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.7 GB) images_rectified_right.zip (1.7 GB)
zurich_city_10_a		Ground Truth Data
		disparity_event.zip (106 MB) disparity_image.zip (270 MB) disparity_timestamps.txt optical_flow_forward_event.zip (124 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (122 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (3.7 GB) events_right.zip (3.4 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (5.2 GB) images_rectified_right.zip (5.2 GB)
zurich_city_10_b		Ground Truth Data
		disparity_event.zip (102 MB) disparity_image.zip (273 MB) disparity_timestamps.txt optical_flow_forward_event.zip (59 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (58 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (4.5 GB) events_right.zip (4.2 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (5.1 GB) images_rectified_right.zip (5.1 GB)
zurich_city_11_a		Ground Truth Data
		disparity_event.zip (38 MB) disparity_image.zip (117 MB) disparity_timestamps.txt optical_flow_forward_event.zip (66 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (64 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (320 MB) events_right.zip (269 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (860 MB) images_rectified_right.zip (839 MB)
zurich_city_11_b		Ground Truth Data
		disparity_event.zip (164 MB) disparity_image.zip (476 MB) disparity_timestamps.txt optical_flow_forward_event.zip (294 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (287 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.7 GB) events_right.zip (1.5 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.7 GB) images_rectified_right.zip (3.5 GB)
zurich_city_11_c		Ground Truth Data
		disparity_event.zip (159 MB) disparity_image.zip (452 MB) disparity_timestamps.txt optical_flow_forward_event.zip (240 MB) optical_flow_forward_timestamps.txt optical_flow_backward_event.zip (234 MB) optical_flow_backward_timestamps.txt
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.8 GB) events_right.zip (1.6 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.6 GB) images_rectified_right.zip (3.5 GB)

Test Sequences

interlaken_00_a
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (2.2 GB) events_right.zip (2.1 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.5 GB) images_rectified_right.zip (2.4 GB)
interlaken_00_b
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (2.6 GB) events_right.zip (2.4 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.4 GB) images_rectified_right.zip (3.3 GB)
interlaken_01_a
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (2.0 GB) events_right.zip (1.7 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (3.5 GB) images_rectified_right.zip (3.4 GB)
thun_01_a
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (255 MB) events_right.zip (235 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (395 MB) images_rectified_right.zip (385 MB)
thun_01_b
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.4 GB) events_right.zip (1.4 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.1 GB) images_rectified_right.zip (2.1 GB)
zurich_city_12_a
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.3 GB) events_right.zip (1.2 GB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.4 GB) images_rectified_right.zip (1.4 GB)
zurich_city_13_a
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (346 MB) events_right.zip (297 MB) semantic_segmentation.zip (3 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (716 MB) images_rectified_right.zip (717 MB)
zurich_city_13_b
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (360 MB) events_right.zip (310 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (654 MB) images_rectified_right.zip (655 MB)
zurich_city_14_a
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (422 MB) events_right.zip (357 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (902 MB) images_rectified_right.zip (907 MB)
zurich_city_14_b
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (417 MB) events_right.zip (321 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (1.1 GB) images_rectified_right.zip (1.1 GB)
zurich_city_14_c
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.0 GB) events_right.zip (825 MB) semantic_segmentation.zip (12 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.3 GB) images_rectified_right.zip (2.3 GB)
zurich_city_15_a
Calibration	Event Data	Image Data
calibration.zip	events_left.zip (1.5 GB) events_right.zip (1.4 GB) semantic_segmentation.zip (12 MB)	image_timestamps.txt image_exposure_timestamps_left.txt image_exposure_timestamps_right.txt images_rectified_left.zip (2.4 GB) images_rectified_right.zip (2.3 GB)