A Dataset for Radial Distortion Calibration of Event Cameras Using Natural Linear Structures

This dataset contains the event-based recordings used in the experimental evaluation of the study entitled “Radial Distortion Calibration for Event Cameras Using Natural Linear Structures”. It includes the raw data employed in all experiments reported in the paper and is provided to support reproducibility and independent verification of the results. The dataset includes event streams recorded under two different lens configurations: narrow field-of-view (Narrow FoV) and wide field-of-view (Wide FoV). The recordings capture scenes containing naturally occurring linear structures commonly found in structured environments, which are exploited as geometric constraints for targetless calibration approaches under realistic operating conditions. To support quantitative comparisons with existing methods, the dataset also includes recordings acquired using an asymmetric grid calibration pattern. This subset enables benchmarking against state-of-the-art calibration approaches and ensures consistency with prior literature. The main archive, dataset.zip, contains the event recordings as well as calibration result files (.xml) generated using the DVXplorer GUI calibration module. In addition, accumulated checkerboard images produced by the accumulator module employed during the calibration process are provided. These supplementary outputs allow inspection of intermediate processing stages and facilitate independent validation of the calibration results. All recordings and associated outputs are released in their original format, without any preprocessing or filtering, to ensure transparency and reproducibility. Intended Use and Reusability The dataset supports reproducibility of the experimental results reported in the associated study. It provides real-world event camera data for both narrow and wide field-of-view configurations. The availability of both natural-scene and pattern-based recordings enables fair and transparent benchmarking against existing calibration methods. The inclusion of DVXplorer GUI calibration outputs (XML) and accumulated checkerboard images allows detailed analysis and validation of the calibration pipeline. The dataset may be reused for the evaluation and development of targetless and scene-based calibration methods for event cameras. Data Availability The dataset is publicly available and consists of the following archives: dataset.zip Event recordings used in the main experiments (Narrow FoV and Wide FoV) Calibration result files generated by the DVXplorer GUI calibration module Checkerboard images accumulated using the accumulator module patterns_asymmetric_grid.zip Event recordings used for quantitative state-of-the-art comparisons