Other
EV-UAV
event-based tiny object detection
Tripod event-camera recordings of tiny flying UAV targets with approximate event-level labels.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Other
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 1
- Ground truth
- Not reported
- Calibration
- Not reported
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not reported
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Not reported
- Processed parameters
- Not reported
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Calibration data
Calibration reproducibility details are not reported.
Notes
Not reportedKnown or intentional limitations
Reported constraints and characteristics to check before using the dataset.
A tripod observer records UAV targets; this is not a UAV-mounted navigation collection. The 147 sequences have a 99/24/24 train/validation/test split; event and label totals use different units.
Labels are approximate and targets are tiny. XYT point clouds encode pixel position and time, not metric 3D geometry; asynchronous streams have no fixed image frame rate.
APS imagery, native IMU, camera calibration and achieved timing accuracy remain unknown. Refer to the original access terms: README license wording includes restrictions alongside its Apache claim.
Cameras
Camera 1
- Model
- DAVIS346
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Event
- Resolution
- 346 x 260
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- One ground-mounted DAVIS346 observer releases asynchronous events. README NPZ timestamps are milliseconds; hardware microsecond capability does not define frames or delivered timestamp units. APS/IMU releases are unestablished.
IMUs
Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- NPZ event records with pixel x/y, millisecond t, polarity, binary target/background label and target identity, plus normalized XYT variants. Approximate event-space boxes/masks are not metric 3D object poses.
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
@misc{chen2025evuav,
author = {{Nuo Chen} and {Chao Xiao} and {Yimian Dai} and {Shiman He} and {Miao Li} and {Wei An}},
title = {Event-based Tiny Object Detection: A Benchmark Dataset and Baseline},
year = {2025},
eprint = {2506.23575},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2506.23575v1}
}Dataset corrections
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