---
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}
}
```