SkyEvents

Multi-modal aerial dataset combining event camera and RGB recordings from a UAV (Anthony-ECPKN, ICLR 2026).

Overview

Field	Value
Sensors	Prophesee EVK4 (1280×720 events) + DJI RGB
Sessions claimed in paper	45
Sessions currently organized	40 (27 in-paper + 13 extras)
In-paper trainable parent flights	18 / 18
Extras with complete event + RGB	4 / 13
Total size	~2.0 TB
Integrity verification	One SHA256SUMS.txt per session

A session is a single recording. A flight is one complete flight. The DJI Fly app auto-splits an RGB clip when it reaches ~17 GB, so one flight can map to one EVK4 event recording plus several RGB segments.

Layout

SkyEvents/
├── README.md                       # this file
├── manifest.csv                    # session-level index for all 40 entries
├── SHA256SUMS.INDEX.md             # how to use the SHA256 checksums
├── SkyEvents_actual_inventory.md   # actual session inventory (Chinese)
├── SkyEvents_download_summary.md   # original download sources (Chinese)
│
├── raw/                            # 18 parent flights from the 27 in-paper sessions
│   └── {YYYYMMDD_HHMM}/            # session_id prefers the event-raw timestamp (minute)
│       ├── events.raw              # Prophesee EVK4 continuous recording
│       ├── events.bias
│       ├── rgb.MP4    OR    rgb_part1.MP4 + rgb_part2.MP4
│       ├── rgb.LRF    OR    rgb_part1.LRF + rgb_part2.LRF
│       └── SHA256SUMS.txt          # SHA256 of every file in this session
│
└── extras/                         # 13 out-of-paper sessions (single-modality or short clips)
    └── {YYYYMMDD_HHMM}/            # includes one multi-segment RGB case (20251021_1611)

Conventions

• session_id = YYYYMMDD_HHMM. Prefer the event-raw timestamp; fall back to the DJI RGB timestamp when no event is present.
• In manifest.csv, kind=continuation marks an RGB continuation; continuation_of points to its parent. Continuation RGB files are physically merged into the parent directory as rgb_part1.* and rgb_part2.*.
• Trainability is judged per parent: a parent needs events.raw and at least one RGB segment.
• This directory is a verbatim mirror of the upstream dataset and contains no detection labels or preprocessing artifacts.

Integrity Verification

Every session directory ships with a SHA256SUMS.txt generated by GNU sha256sum. To verify one session:

cd raw/20250912_1549
sha256sum -c SHA256SUMS.txt

For full-set verification see SHA256SUMS.INDEX.md.