Folder Structure

The data used in the EvSLAM challenge can be downloaded via this link, and the folder structure is as follows:


  EvSLAM/
  ├── rosbag/
  │   ├── drone_8_norm.bag
  │   ├── arm_hdr.bag
  │   ├── slider_fast.bag
  │   └── car_circle_hdr.bag
  ├── calibration/
  │   ├── calib_results_cam.txt
  │   ├── calib_results_imu.txt
  │   ├── calib_results_cam_imu.txt
  │   └── calib.bag
  └── groundtruth/
      ├── drone_8_norm.tum
      ├── arm_hdr.tum
      ├── slider_fast.tum
      └── car_circle_hdr.tum

The rosbag folder contains the data bags for each sequence, the calibration folder contains the calibration files for different vehicles, the timestamps folder contains the timestamps associated with the trajectories we expect participants to provide, and the groundtruth folder stores the ground truth data for the test sequences.

Data Format

Our dataset includes data from two event cameras, an Intel RealSense D435, and a motion capture system.

  • '/dvxplorer_left/events':
    (dvs_msgs/EventArray): Events from the left event camera.
  • '/dvxplorer_right/events':
    (dvs_msgs/EventArray): Events from the right event camera.
  • '/dvxplorer_left/imu':
    (sensor_msgs/Imu): Acceleration and angular velocity from IMU.
  • '/camera/infra1/image_rect_raw':
    (sensor_msgs/Image): Left-view grayscale images captured by the RealSense camera.
  • '/camera/infra2/image_rect_raw':
    (sensor_msgs/Image): Right-view grayscale images captured by the RealSense camera.
  • '/camera/color/image_rect_raw':
    (sensor_msgs/Image): Color images captured by the RealSense camera.

Calibrations

The calibration format for calib_results_cam.txt is as follows:

  • Common settings:
    Camera model: pinhole + radtan distortion,
    Resolution: 640×480
  • '/dvxplorer_left/events' (cam0):
    Extrinsics: T_cam_imu (IMU → cam0)
    Intrinsics: [fx, fy, cx, cy]
    Distortion: [k1, k2, p1, p2]
    Overlaps: cam1–cam4
    Time offset: timeshift_cam_imu
  • '/dvxplorer_right/events' (cam1):
    Extrinsics: T_cam_imu (IMU → cam1)
    Intrinsics & distortion: same as common
    Overlaps: cam0, cam2–cam4
    Relative extrinsics: T_cn_cnm1 (cam0 → cam1)
    Time offset: timeshift_cam_imu
  • '/camera/color/image_rect_raw' (cam2):
    Extrinsics: T_cam_imu (IMU → cam2)
    Intrinsics & distortion: same as common
    Overlaps: cam0–cam1, cam3–cam4
    Relative extrinsics: T_cn_cnm1 (cam1 → cam2)
    Time offset: timeshift_cam_imu
  • '/camera/infra1/image_rect_raw' (cam3):
    Extrinsics: T_cam_imu (IMU → cam3)
    Intrinsics & distortion: same as common
    Overlaps: cam0–cam2, cam4
    Relative extrinsics: T_cn_cnm1 (cam2 → cam3)
    Time offset: timeshift_cam_imu
  • '/camera/infra2/image_rect_raw' (cam4):
    Extrinsics: T_cam_imu (IMU → cam4)
    Intrinsics & distortion: same as common
    Overlaps: cam0–cam3
    Relative extrinsics: T_cn_cnm1 (cam3 → cam4)
    Time offset: timeshift_cam_imu

The calibration format for calib_results_imu.txt is as follows:

  • '/dvxplorer_left/imu':
    Extrinsic calibration: T_i_b (IMU → body frame),
    Accelerometer noise density: accelerometer_noise_density,
    Accelerometer random walk: accelerometer_random_walk,
    Gyroscope noise density: gyroscope_noise_density,
    Gyroscope random walk: gyroscope_random_walk,
    Model: model,
    Time offset: time_offset,
    Update rate: update_rate Hz.