Datasets:
File size: 4,234 Bytes
2e46c4b cff4b46 2e46c4b 69a0d06 2e46c4b cff4b46 2e46c4b cff4b46 2e46c4b cff4b46 2e46c4b cff4b46 2e46c4b cff4b46 2e46c4b cff4b46 2e46c4b cff4b46 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 | ---
license: cc-by-nc-4.0
task_categories:
- object-detection
tags:
- 6d-pose
- event-camera
- novel-object
- rgbd
size_categories:
- 10G<n<100G
---
# Event6D Dataset (Real-World Capture)
Real-world hand-held capture used as the primary test set in
[Event6D](https://github.com/mickeykang16/Event6D) (CVPR 2026).
Hand-held capture of 14 daily YCB-style objects from random viewpoints and motions.
## Hardware
| Sensor | Model | Resolution | Rate |
|---|---|---|---|
| RGB-D | Intel RealSense D435i | 1280 × 720 | 30 FPS |
| Event | Prophesee IMX636 | 1280 × 720 | ≥ 5000 FPS |
Calibration (intrinsics + RGB↔event extrinsic) is shipped as `0001-camchain.yaml`
in the Kalibr camchain format.
## Layout
```
Event6D/
├── 0001-camchain.yaml # Kalibr-format intrinsic + extrinsic calibration
├── test.txt, train.txt # split lists (sequence frame ranges)
├── simple_mesh/ # 21 YCB-style object meshes (textured.obj + material)
└── <object>_<date>/<run>/ # e.g. banana_1101/0003
├── parsed_events/ # raw events as packed .npz per frame (x,y,t,p)
├── rgb/ # color frames at 30 fps
├── depth_aligned_to_color/
├── depth_aligned_to_event/
├── pose/ # GT object poses (4, 4, 4): 4 sub-timesteps per file
├── mask/
├── obj.txt # object id string (e.g. 011_wine_glass)
├── startend.txt
└── aligned_depth_pose.csv
```
## Ground-truth pose format
Although RGB is captured at 30 FPS, the event camera produces a continuous stream that
we sample at 120 Hz. To give pose labels at the finer rate, each `pose/XXXXXX.npy` stores
**4 poses** instead of one — these are 4 evenly-spaced sub-timesteps that span the
interval between RGB frame `XXXXXX` and the next RGB frame `XXXXXX+1`.
```
file shape: (4, 4, 4)
│ └──┴── 4×4 SE(3) rigid-body transform (object → camera)
└──── sub-timestep index 0..3 within one 30 FPS frame interval
```
- `pose[0]` is co-temporal with `rgb/XXXXXX.jpg` (the start of the interval).
- `pose[1]`, `pose[2]`, `pose[3]` are 1/4, 2/4, 3/4 of the way to `rgb/XXXXXX+1.jpg`.
Evaluators can therefore choose either:
- **30 FPS** — use only `pose[0]` per frame, comparing against the tracker's prediction
at the RGB instant; or
- **120 FPS** — use all 4 sub-timesteps, comparing against pose predictions emitted at
each event sub-step.
## Event file timing
Events are pre-packed into `parsed_events/XXXXXX.npz`. Each file holds the events that
occurred during the **inter-frame interval ending at RGB frame `XXXXXX`** — i.e.
the events between `rgb/(XXXXXX-1).jpg` and `rgb/XXXXXX.jpg` (a window of ≈ 1/30 s).
```
time →
┌────────────────── 1 / 30 s ──────────────────┐
rgb/(i−1).jpg rgb/i.jpg
│ │
│←── parsed_events/i.npz (events in interval) │
│ │
├──── pose/(i−1).npy[0..3] (4 sub-timesteps) ──┤
```
So for any frame `i`:
- `rgb/i.jpg` — snapshot at the end of the interval
- `parsed_events/i.npz` — events leading **up to** that snapshot
- `pose/(i−1).npy[0..3]` — 4 GT poses across the same interval, aligned with the events
Each `.npz` stores a structured array under key `data` with fields
`(x, y, t, p)` (event pixel coords, timestamp in seconds, polarity ±1).
## Download
```bash
huggingface-cli download mickeykang/Event6D --repo-type dataset \
--local-dir ./data/Event6D
```
## Citation
```bibtex
@inproceedings{kang2026event6d,
title = {Event6D: Event-based Novel Object 6D Pose Tracking},
author = {Kang, Jae-Young and
Cho, Hoonehee and
Lee, Taeyeop and
Kang, Minjun and
Wen, Bowen and
Kim, Youngho and
Yoon, Kuk-Jin},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2026}
}
```
|