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license: cc-by-nc-4.0
task_categories:
- object-detection
tags:
- 6d-pose
- event-camera
- ho3d
- novel-object
size_categories:
- 1G<n<10G
---
# EventHO3D (Event-Augmented Add-On for HO3D-v2)
Event streams and XMem object masks that augment the
[HO3D-v2](https://www.tugraz.at/index.php?id=40231) evaluation split for
[Event6D](https://github.com/mickeykang16/Event6D) (CVPR 2026).
Events are **simulated from the original RGB frames** (no real event camera). This
dataset does NOT redistribute the HO3D images/depth — download those from the official
source and merge with this release.
## Sequences
13 video runs across 4 novel YCB objects:
`AP10–AP14` (pitcher), `MPM10–MPM14` (potted meat can), `SB11`, `SB13` (bleach), `SM1` (mustard).
## Layout (this release)
```
EventHO3D/
├── evaluation_events/<seq>/ # simulated event streams (.npz per frame, ≈3 GB)
└── masks_XMem/<seq>/ # XMem object segmentation masks (≈80 MB)
```
## Setup with original HO3D-v2
1. **Download HO3D-v2 evaluation** from the official project page:
<https://www.tugraz.at/index.php?id=40231>
2. **Place this release under the same parent** so that `evaluation/` (from HO3D-v2) and
`evaluation_events/` / `masks_XMem/` (from here) sit side-by-side:
```
EventHO3D/
├── evaluation/ # ← from official HO3D-v2 (rgb, depth, meta, hand_mask, ...)
├── evaluation_events/ # ← from this release
├── masks_XMem/ # ← from this release
└── ycb_models/ # ← YCB-Video models, see below
```
3. **YCB-Video models** (`ycb_models/{ob_name}/textured_simple.obj`) are required by
`Ho3dReader.get_gt_mesh()`. Download from
<https://rse-lab.cs.washington.edu/projects/posecnn/> (YCB_Video_Models.zip), or set
`YCB_MODELS_PATH=/path/to/ycb_models` to a copy you already have.
## Download
```bash
huggingface-cli download mickeykang/EventHO3D --repo-type dataset \
--local-dir ./data/EventHO3D
```
## Event file timing
Each `evaluation_events/<seq>/XXXXXX.npz` holds the events that occurred during the
inter-frame interval ending at HO3D RGB frame `XXXXXX` (between `rgb/(XXXXXX-1).jpg` and
`rgb/XXXXXX.jpg`, ≈ 1/30 s). Inside each `.npz`, key `data` is a structured array with
fields `(x, y, t, p)` — event pixel coords, timestamp in seconds, polarity ±1.
## 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}
}
@inproceedings{hampali2020honnotate,
title = {HOnnotate: A method for 3D Annotation of Hand and Object Poses},
author = {Hampali, Shreyas and Rad, Mahdi and Oberweger, Markus and Lepetit, Vincent},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2020}
}
```
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