EDOPT: Event-camera 6-DoF Dynamic Object Pose Tracking

The dataset can be used to test your event-based 6-DoF pose tracking algorithm. If you use any of this data, please cite the following publication: @inproceedings{glover2024, title={EDOPT: Event-camera 6-DoF Dynamic Object Pose Tracking }, author={Glover, Arren and Gava, Luna and Li, Zhichao and Bartolozzi, Chiara}, booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, year={2024} } The dataset includes event-driven data and ground truth of 5 objects: dragon, jell-o, mustard, soup can, and spam. For each object, six different motions on independent axes are recorded. To import .log files containing events, we suggest bimvee Python library. Specifically, use the functions to import .log files: data = importIitYarp(filePathOrName=input_path) Ground-truth .csv files have 8 columns, each one corresponding to a different measure: timestamp | x | y | z | qx | qy | qz | qw x, y, z refer to the object position in the camera reference frame, while qx, qy, qz and qw refer to the object orientation expressed in quaternions.

搜集汇总

背景与挑战

背景概述

该数据集专为测试基于事件相机的6自由度动态物体姿态跟踪算法而设计，包含5个不同对象（dragon、jell-o、mustard、soup can、spam）的六种独立轴运动记录，提供事件驱动的.log文件和地面真值的.csv文件（含位置和四元数方向），格式清晰便于算法验证，使用时需引用指定的2024年ICRA出版物。