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.