CED: Color Event Camera Dataset

Event cameras are novel, bio-inspired visual sensors,whose pixels output asynchronous and independent times-tamped spikes at local intensity changes, called ‘events’. Event cameras offer advantages over conventional frame-based cameras in terms of latency, high dynamic range(HDR) and temporal resolution. Until recently, event cam-eras have been limited to outputting events in the intensity channel, however, recent advances have resulted in the development of color event cameras, such as the Color-DAVIS346. In this work, we present and release the first Color Event Camera Dataset (CED), containing 50 minutes of footage with both color frames and events. CED features a wide variety of indoor and outdoor scenes, which we hope will help drive forward event-based vision research.We also present an extension of the event camera simulator ESIM [1] that enables simulation of color events. Finally,we present an evaluation of three state-of-the-art image re-construction methods that can be used to convert the Color-DAVIS346 into a continuous-time, HDR, color video cam-era to visualise the event stream, and for use in downstream vision applications