Event-driven datasets contain the stream of events captured from a single or stereo event cameras. Each dataset can be played using the yarpdataplayer. Once the dataset is loaded in the yarpdataplayer, the specified output port (default=/zynqGrabber/AE:o) is opened and can be connected to any event-driven processing module, the event-driven pre-processing module (vPreProcess), or directly to the event-driven visualizer (vFramerLite).

Each dataset may also contain:

• other sensors on the iCub (also re-playable with the yarpdataplayer),
• ground truth measurements, given the task (e.g. ball locations, corner locations), and
• Matlab scripts to generate the result figures as in the relevant papers.

Datasets recorded with the DVS and ATIS have the following properties which must be set correctly in the module parameters (i.e. width and height) and the CMake options (i.e. VLIB_CODEC_TYPE, VLIB_TIMER_BITS and VLIB_CLOCK_PERIOD_NS), to interpret the data:

Sensor Type	width	height	VLIB_CODEC_TYPE	VLIB_TIMER_BITS	VLIB_CLOCK_PERIOD_NS
DVS	128	128	CODEC_128x128	24	128

Sensor Type	width	height	VLIB_CODEC_TYPE	VLIB_TIMER_BITS	VLIB_CLOCK_PERIOD_NS
ATIS_20	304	240	CODEC_304x240_20	24	80

Sensor Type	width	height	VLIB_CODEC_TYPE	VLIB_TIMER_BITS	VLIB_CLOCK_PERIOD_NS
ATIS_24	304	240	CODEC_304x240_24	30	80

Available Datasets

Sample Dataset

• simple dataset to visualise
• ATIS_24

download

Ball Detection and Tracking

• 2 Datasets = hand-move, eye-move
• DVS
• ground truth supplied

download

Corner Detection

• 2 Datasets = checkboard (multiple different speeds and angles), naturalscene
• DVS
• ground truth supplied for naturalscene

download

VVV18-EVENTDRIVEN-DATASET

• 3 Datasets = 1, 2, 3 with different motions of the object and the robot
• robot encoder positions for head and torso supplied, stereo ATIS output, stereo RGB camera supplied
• scripts to recreate the movement of the robot supplied
• ATIS_20

download

Parallel Visual Tracking

• 10 datasets with moving circular target
• contains ground truth and outputs of tracking algorithm run on the CPU and on the SpiNNAker
• ATIS_24

download