The ECMD Datasets

Data Format

We provide all data sequences in rosbag files (various sensors including event streams, infrared images, standard images, LiDAR point clouds, IMU) and text files (Ground truth).

/DAVIS346_left/events (dv_ros_msgs/EventArray): Events from the left DAVIS346.
/DAVIS346_left/image (sensor_msgs/Image): Color images from the left DAVIS346.
/DAVIS346_left/imu (sensor_msgs/Imu): 6-axis IMU from the left DAVIS346.
/DAVIS346_right/events (dv_ros_msgs/EventArray): Events from the right DAVIS346.
/DAVIS346_right/image (sensor_msgs/Image): Color images from the right DAVIS346.
/DAVIS346_right/imu (sensor_msgs/Imu): 6-axis IMU from the right DAVIS346.
/DVXplorer_left/events (dv_ros_msgs/EventArray): Events from the left DVXplorer.
/DVXplorer_left/imu (sensor_msgs/Imu): 6-axis IMU from the left DVXplorer.
/DVXplorer_right/events (dv_ros_msgs/EventArray): Events from the right DVXplorer.
/DVXplorer_right/imu (sensor_msgs/Imu): 6-axis IMU from the right DVXplorer.
/camera_left/image_color/compressed (sensor_msgs/CompressedImage): Color images from the left standard cameras.
/camera_right/image_color/compressed (sensor_msgs/CompressedImage): Color images from the right standard cameras.
/hikrobot_infrared_camera/rgb (sensor_msgs/Image): Infrared images from the hikrobot infrared camera.
/left/lslidar_point_cloud (sensor_msgs/PointCloud2): Point clouds from the left slanted LiDAR.
/right/velodyne_points (sensor_msgs/PointCloud2): Point clouds from the right slanted LiDAR.
/velodyne_points (sensor_msgs/PointCloud2): Point clouds from the top-installed LiDAR.
/imu/data (sensor_msgs/Imu): 9-axis IMU from the Xsens Mti-30.
gt.txt (TUM format): The ground truth signals from centimeter-level GNSS-RTK/INS system.

The following content is divided into two sections:

1. Visualization.

2. Summary Table.

Visualization of each sequence

Dense Street Sequences (Download Link)

Xspeed_hku_cyberport_0629_urban_road_18.40_20.45

Xspeed_hku_cyberport_0629_urban_street_9.56_11.50

Dense_street_day_easy_a

Dense_street_day_easy_b

rosbag: rosbag (11.9 G)

rosbag: rosbag (8.92 G)

ground truth: txt (18.7 KB)

ground truth: txt (17.1 KB)

Xspeed_hku_cyberport_0629_urban_street_11.50_13.03

Xspeed_hku_cyberport_0629_urban_street_15.20_16.40

Dense_street_day_easy_c

Dense_street_day_easy_d

rosbag: rosbag (7.32 G)

rosbag: rosbag (6.73 G)

ground truth: txt (11.1 KB)

ground truth: txt (12.2 KB)

Xspeed_hku_cyberport_0629_urban_street_21.50_22.34

Xspeed_qingma_night_0629_urban_street_38913_39034

Dense_street_day_easy_e

Dense_street_night_easy_a

rosbag: rosbag (4.86 G)

rosbag: rosbag (9.03 G)

ground truth: txt (6.82 KB)

ground truth: txt (18.3 KB)

Dense_street_night_easy_b

Dense_street_night_easy_c

rosbag: rosbag (7.89 G)

rosbag: rosbag (29.4 G)

ground truth: txt (9.03 KB)

ground truth: txt (17.8 KB)

Xspeed_highspeed_all_0627_urban_street_2138_2258

Xspeed_highspeed_all_0627_urban_street_2258_2383

Dense_street_day_medium_a

Dense_street_day_medium_b

rosbag: rosbag (9.87 G)

rosbag: rosbag (9.67 G)

ground truth: txt (18.4 KB)

ground truth: txt (19.3 KB)

Xspeed_highspeed_all_0627_urban_street_2417_2538

Xspeed_small_circle_day_strong_0627_first_circle_new

Dense_street_day_medium_c

Dense_street_day_medium_circle_a

rosbag: rosbag (9.90 G)

rosbag: rosbag (19.5 G)

ground truth: txt (18.6 KB)

ground truth: txt (33.7 KB)

Xspeed_small_circle_day_strong_0627_second_circle_new

Xspeed_small_circle_day_strong_0627_third_circle_new

Dense_street_day_medium_circle_b

Dense_street_day_medium_circle_c

rosbag: rosbag (25.4 G)

rosbag: rosbag (28.2 G)

ground truth: txt (47.1 KB)

ground truth: txt (52.4 KB)

Dense_street_day_medium_loop_a

Dense_street_day_medium_loop_b

rosbag: rosbag (44.3 G)

rosbag: rosbag (60.4 G)

ground truth: txt (73 KB)

ground truth: txt (109 KB)

Xspeed_highspeed_all_0627_urban_street_2593_2785

Xspeed_small_circle_day_strong_0627_three_circle

Dense_street_day_difficult

Dense_street_day_difficult_circle

rosbag: rosbag (14.7 G)

rosbag: rosbag (66.9 G)

ground truth: txt (29.3 KB)

ground truth: txt (122 KB)

Dense_street_day_difficult_loop

rosbag: rosbag (105 G)

ground truth: txt (182 KB)

Urban Road (Download Link)

Xspeed_hku_cyberport_0629_suburban_road_23.20_25.20

Xspeed_highspeed_all_0627_highway_231_303

Urban_road_day_easy_a

Urban_road_day_easy_b

rosbag: rosbag (11.9 G)

rosbag: rosbag (7.50 G)

ground truth: txt (17.7 KB)

ground truth: txt (11.1 KB)

Xspeed_highspeed_all_0627_urban_road_0_118

Xspeed_highspeed_all_0627_urban_road_118_231

Urban_road_day_easy_c

Urban_road_day_easy_d

rosbag: rosbag (11.2 G)

rosbag: rosbag (12.1 G)

ground truth: txt (18.0 KB)

ground truth: txt (17.4 KB)

Xspeed_qingma_night_0629_urban_road_39154_39224

Xspeed_qingma_night_0629_rainy_41555_41623

Urban_road_night_easy_a

Urban_road_night_easy_b

rosbag: rosbag (7.29 G)

rosbag: rosbag (13.8 G)

ground truth: txt (10.6 KB)

ground truth: txt (17.9 KB)

Xspeed_highspeed_all_0627_highway_338_458

Xspeed_qingma_night_0629_highway_39329_39449

Urban_road_night_easy_rainy

Urban_road_day_medium

rosbag: rosbag (6.70 G)

rosbag: rosbag (15.3 G)

ground truth: txt (10.3 KB)

ground truth: txt (18.2 KB)

Xspeed_qingma_night_0629_highway_39449_39569

Urban_road_night_medium_a

Urban_road_night_medium_b

rosbag: rosbag (9.24 G)

rosbag: rosbag (10.7 G)

ground truth: txt (18.1 KB)

ground truth: txt (17.8 KB)

Xspeed_qingma_night_0629_urban_road_39034_39154.

Xspeed_qingma_night_0629_urban_street_39224_39326

Urban_road_night_medium_c

Urban_road_night_medium_d

rosbag: rosbag (10.1 G)

rosbag: rosbag (9.78 G)

ground truth: txt (18.0 KB)

ground truth: txt (15.3 KB)

Xspeed_qingma_night_0629_rainy_39904_40024.

Xspeed_qingma_night_0629_rainy_40024_40144

Urban_road_night_medium_rainy_a

Urban_road_night_medium_rainy_b

rosbag: rosbag (10.5 G)

rosbag: rosbag (10.4 G)

ground truth: txt (17.9 KB)

Urban_road_night_difficult_a

Urban_road_night_difficult_b

rosbag: rosbag (11.5 G)

rosbag: rosbag (12.9 G)

ground truth: txt (18.0 KB)

ground truth: txt (17.8 KB)

Xspeed_qingma_night_0629_highway_39650_39770.

Xspeed_qingma_night_0629_rainy_40144_40204

Urban_road_night_difficult_c

Urban_road_night_difficult_rainy_a

rosbag: rosbag (10.4 G)

rosbag: rosbag (6.70 G)

ground truth: txt (17.9 KB)

ground truth: txt (9.05 KB)

Xspeed_qingma_night_0629_rainy_40219_40339.

Urban_road_night_difficult_rainy_b

rosbag: rosbag (11.4 G)

ground truth: txt (17.6 KB)

Tunnel (Download Link)

Xspeed_qingma_night_0629_tunnel_39624_39650

Xspeed_highspeed_all_0627_tunnel_303_338

Tunnel_easy_a

Tunnel_easy_b

rosbag: rosbag (3.15 G)

rosbag: rosbag (5.85 G)

ground truth: txt (3.96 KB)

ground truth: txt (5.63 KB)

Xspeed_highspeed_all_0627_tunnel_593_618

Tunnel_easy_c

Tunnel_easy_d

rosbag: rosbag (4.76 G)

rosbag: rosbag (7.33 G)

ground truth: txt (3.98 KB)

ground truth: txt (6.03 KB)

Tunnel_medium_a

Tunnel_medium_b

rosbag: rosbag (4.28 G)

rosbag: rosbag (2.39 G)

ground truth: txt (4.52 KB)

ground truth: txt (xxx M)

Xspeed_highspeed_all_0627_tunnel_1628_1680_event_fail

Xspeed_highspeed_all_0627_tunnel_2083_2138_event_fail

Tunnel_difficult_a

Tunnel_difficult_b

rosbag: rosbag (5.56 G)

rosbag: rosbag (5.75 G)

ground truth: txt (8.15 KB)

ground truth: txt (8.58 KB)

Tunnel_difficult_c

rosbag: rosbag (9.54 G)

ground truth: txt (xxx M)

Highway (Download Link)

Xspeed_highspeed_all_0627_highway_483_593

Xspeed_highspeed_all_0627_highway_1563_1634

Highway_day_easy_a

Highway_day_easy_b

rosbag: rosbag (12.0 G)

rosbag: rosbag (7.39 G)

ground truth: txt (16.8 KB)

ground truth: txt (11.1 KB)

Highway_day_medium_a

Highway_day_medium_b

rosbag: rosbag (11.5 G)

rosbag: rosbag (10.1 G)

ground truth: txt (18.4 KB)

ground truth: txt (18.8 KB)

Highway_day_medium_c

Highway_night_medium_a

rosbag: rosbag (9.72 G)

rosbag: rosbag (4.13 G)

ground truth: txt (18.3 KB)

ground truth: txt (8.55 KB)

Highway_night_medium_b

Highway_night_medium_c

rosbag: rosbag (5.19 G)

rosbag: rosbag (13.8 G)

ground truth: txt (9.02)

ground truth: txt (22.3 KB)

Highway_night_medium_d

Highway_day_difficult_a

rosbag: rosbag (9.75 G)

rosbag: rosbag (59.8 G)

ground truth: txt (16.3 KB)

ground truth: txt (92.0 KB)

Highway_day_difficult_b

Highway_night_difficult_a

rosbag: rosbag (9.81 G)

rosbag: rosbag (4.87 G)

ground truth: txt (18.5 KB)

ground truth: txt (9.44 KB)

Highway_night_difficult_b

Highway_night_difficult_c

rosbag: rosbag (9.35 G)

rosbag: rosbag (10.5 G)

ground truth: txt (14.7 KB)

ground truth: txt (17.6 KB)

Highway_night_difficult_d

rosbag: rosbag (11.5 G)

ground truth: txt (17.8 KB)

Bridge (Download Link)

Bridge_day_medium_a

Bridge_day_medium_b

rosbag: rosbag (10.3 G)

rosbag: rosbag (6.17 G)

ground truth: txt (17.1 KB)

ground truth: txt (12.5 KB)

Bridge_day_difficult_a

Bridge_day_difficult_b

rosbag: rosbag (11.6 G)

rosbag: rosbag (11.0 G)

ground truth: txt (18.5 KB)

ground truth: txt (18.7 KB)

Bridge_night_difficult_a

Bridge_night_difficult_b

rosbag: rosbag (18.2 G)

rosbag: rosbag (12.1 G)

ground truth: txt (17.7 KB)

ground truth: txt (10.4 KB)

Suburban road (Download Link)

Suburban_road_day_easy_a

Suburban_road_day_easy_b

rosbag: rosbag (6.43 G)

rosbag: rosbag (11.6 G)

ground truth: txt (9.86 KB)

ground truth: txt (18.2 KB)

Suburban_road_day_easy_c

Suburban_road_day_easy_d

rosbag: rosbag (5.44 G)

rosbag: rosbag (2.66 G)

ground truth: txt (10.6 KB)

ground truth: txt (3.08 KB)

Suburban_road_day_easy_e

Suburban_road_day_easy_f

rosbag: rosbag (2.85 G)

rosbag: rosbag (8.78 G)

ground truth: txt (4.75 KB)

ground truth: txt (12.6 KB)

Suburban_road_day_medium_a

Suburban_road_day_medium_b

rosbag: rosbag (20.3 G)

rosbag: rosbag (16.5 G)

ground truth: txt (28.7 KB)

ground truth: txt (25.3 KB)

Suburban_road_day_medium_c

Suburban_road_day_medium_d

rosbag: rosbag (19.3 G)

rosbag: rosbag (7.21 G)

ground truth: txt (29.6 KB)

ground truth: txt (9.12 KB)

Suburban_road_night_medium_a

Suburban_road_night_medium_b

rosbag: rosbag (10.2 G)

rosbag: rosbag (10.9 G)

ground truth: txt (18.1 KB)

ground truth: txt (21.4 KB)

Suburban_road_night_difficult

rosbag: rosbag (11.6 G)

ground truth: txt (17.9 KB)

Summarization

Scene	Sequences	Duration	Total Size
Dense Street (Download Link)	Dense_street_day_easy_a
	Dense_street_day_easy_b
	Dense_street_day_easy_c
	Dense_street_day_easy_d
	Dense_street_day_easy_e
	Dense_street_night_easy_a
	Dense_street_night_easy_b
	Dense_street_night_easy_c
	Dense_street_day_medium_a
	Dense_street_day_medium_b
	Dense_street_day_medium_c
	Dense_street_day_medium_circle_a
	Dense_street_day_medium_circle_b
	Dense_street_day_medium_circle_c
	Dense_street_day_medium_loop_a
	Dense_street_day_medium_loop_b
	Dense_street_day_difficult
	Dense_street_day_difficult_circle
	Dense_street_day_difficult_loop
Urban road (Download Link)	Urban_road_day_easy_a
	Urban_road_day_easy_b
	Urban_road_day_easy_c
	Urban_road_day_easy_d
	Urban_road_night_easy_a
	Urban_road_night_easy_b
	Urban_road_night_easy_rainy
	Urban_road_day_medium
	Urban_road_night_medium_a
	Urban_road_night_medium_b
	Urban_road_night_medium_c
	Urban_road_night_medium_d
	Urban_road_night_medium_rainy_a
	Urban_road_night_medium_rainy_b
	Urban_road_night_difficult_a
	Urban_road_night_difficult_b
	Urban_road_night_difficult_c
	Urban_road_night_difficult_rainy_a
	Urban_road_night_difficult_rainy_b
Tunnel (Download Link)	Tunnel_easy_a
	Tunnel_easy_b
	Tunnel_easy_c
	Tunnel_easy_d
	Tunnel_medium_a
	Tunnel_medium_b
	Tunnel_difficult_a
	Tunnel_difficult_b
	Tunnel_difficult_c
Highway (Download Link)	Highway_day_easy_a
	Highway_day_easy_b
	Highway_day_medium_a
	Highway_day_medium_b
	Highway_day_medium_c
	Highway_night_medium_a
	Highway_night_medium_b
	Highway_night_medium_c
	Highway_night_medium_d
	Highway_day_difficult_a
	Highway_day_difficult_b
	Highway_night_difficult_a
	Highway_night_difficult_b
	Highway_night_difficult_c
	Highway_night_difficult_d
Bridge (Download Link)	Bridge_day_medium_a
	Bridge_day_medium_b
	Bridge_day_difficult_a
	Bridge_day_difficult_b
	Bridge_night_difficult_a
	Bridge_night_difficult_b
Suburban road (Download Link)	Suburban_road_day_easy_a
	Suburban_road_day_easy_b
	Suburban_road_day_easy_c
	Suburban_road_day_easy_d
	Suburban_road_day_easy_e
	Suburban_road_day_easy_f
	Suburban_road_day_medium_a
	Suburban_road_day_medium_b
	Suburban_road_day_medium_c
	Suburban_road_day_medium_d
	Suburban_road_night_medium_a
	Suburban_road_night_medium_b
	Suburban_road_night_difficult