DND21 Datasets

DND21 datasets are available directly via google drive in the AEDAT folder.

Datasets are provided mainly as AEDAT-2.0 binary files compatible with jAER and NoiseTesterFilter. We have converted some of them to DVS text files.

Use a jAER Davis346mini AEChip class to view and process these datasets

Main datasets

The main DND21 paper used two datasets, hotel-bar and driving.

Clean (no noise added) versions are to right.

driving is based on example from v2e.

Our synthetic moving-dot, driving, and several other datasets were created with v2e.

Some of the datasets are recorded data, particularly the hotel-bar and noise recordings (see below).

hotel-bar

driving

Raw noise recordings

We also supply samples of recorded leak noise events and shot noise events recorded under bright and dark illumination conditions from a Davis346 camera.

These samples can be mixed with noise-free data to study denoising effectiveness.

Videos include use of jAER Info and CellStatsProber filters to overlay statistical information about the event stream. See Information filters in the jAER users guide.

Leak event BA noise - bright conditions

Shot BA noise - dark conditions

Extra datasets

slot-car was used for the Fig. 1 data

More moving dot datasets are included:

barely-visible are 5 single pixel dots rotating in decreasing circle. The dots are such low contrast and the pixel mismatch is large enough that pixels are skipped.
pixels-discs are larger dots with high contrast.

moving-dot

dvs-video.mp4

slot-car

dvs-video.mp4

File formats help

AEDAT file header (from v2e)

The AEDAT files are in AEDAT-2.0 format compatible with jAER.

Sample AEDAT 2.0 header

#!AER-DAT2.0# This is a raw AE data file created by AEDat2Output in v2e (see https://github.com/SensorsINI/v2e ) as specified at https://inivation.com/support/software/fileformat/#aedat-20 # Data format is int32 address, int32 timestamp (8 bytes total), repeated for each event# Timestamps tick is 1 us# Creation time: 09:56PM June 21 2020# Creation time: System.currentTimeMillis() 1592769389791

Text DVS events file sample header

#!events.txt# This is a text DVS created by v2e (see https://github.com/SensorsINI/v2e)# Format is time (float s), x, y, polarity (0=off, 1=on) as specified at http://rpg.ifi.uzh.ch/davis_data.html # Creation time: 09:47PM December 15 2020# Creation time: System.currentTimeMillis() 1608065222075# User name: tobid0.00010000238398788497 273 130 10.00020000476797576994 273 130 10.00030000717379152775 273 130 10.0004000095359515399 273 130 10.0005000119563192129 273 130 10.0006000143475830555 273 130 1

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