UAV, Handheld, Automotive, Other
MVSEC
Stereo event-based 3D perception and odometry
Stereo event/APS, frame-camera and inertial recordings with indoor motion capture, derived driving pose/depth and motorcycle GPS references.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UAV, Handheld, Automotive, Other
- Environment
- Indoor, Outdoor
- Data origin
- Real-world
- Sensor count
- 10
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | Motion capture | Indoor Vicon motion capture · Vantage VP-16 | 20 cameras | 100 Hz | Partial · Indoor Flying1, Indoor Flying2, Indoor Flying3, Indoor Flying4 |
Reference provenance
External
|
|
||||||
| 2D + heading | LiDAR SLAM | Cartographer loop-closed lidar/IMU | Not reported | Not reported | Partial · Outdoor Day1, Outdoor Day2, Outdoor Night1, Outdoor Night2, Outdoor Night3 |
Reference provenance
Derived
|
|
||||||
| Other | LiDAR SLAM | LOAM local lidar reprojection | Not reported | 20 Hz | Partial · Indoor Flying, Outdoor Driving |
Reference provenance
Derived
|
|
||||||
| 3D position | Other | Motorcycle GNSS reference · u-blox NEO-M8N | Not reported | Not reported | Partial · Motorcycle Highway1 |
Reference provenance
External
|
|
||||||
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Parameters Only
- Processed parameters
- Available
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Parameters only
Processed calibration parameters are reported, but raw calibration data is not reported.
Notes
Download table provides rig-specific calibration YAML. Raw sessions are paper-described as on request; default downloadable raw-session completeness is not established.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
This entry uses the ten sequences explicitly listed on the current download page: four indoor flights, five car drives and one motorcycle recording. The paper describes fourteen; handheld and outdoor-flight archive availability is not established by that table.
Indoor flights omit VI-Sensor data. Outdoor Day 1/2 lack usable right DAVIS grayscale frames but retain events and VI-Sensor images. Motorcycle recording has no LiDAR-derived depth.
DAVIS event and APS outputs share the same two physical cameras. Event rates are asynchronous; APS capability and IMU message cadence are not native component sampling rates.
Car trajectories and stereo depth reuse onboard LiDAR/IMU measurements. Cartographer car pose is planar; invalid depth regions and dynamic-object errors up to approximately 2 m limit evaluation.
The motorcycle GPS reference does not supply independent 6DoF truth. External motion capture is limited to indoor flight sequences within the currently listed release scope.
DAVIS clocks are wired together, but APS exposure times can differ by up to 10 ms; GPS/motion-capture timestamps and estimated offsets do not establish uniform timing accuracy. Indoor event-polarity imbalance is paper-documented.
Raw calibration sessions require a separate request. Optical-flow generation code is linked separately and does not establish precomputed flow files for every sequence.
Cameras
Camera 1
- Model
- DAVIS m346B
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Event
- Resolution
- 346 x 260
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Also grayscale APS; up to50fps is capability, exposure-dependent capture. Car Day1/2 right APS unavailable.
Camera 2
- Model
- Skybotix VI-Sensor Aptina MT9V034
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Grayscale
- Resolution
- 752 x 480
- Rate
- 20 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Absent from indoor flight1–4.
IMUs
Stereo DAVIS cameras integrated IMUs
- Model
- MPU6150
- Count
- 2
- Accel / gyro
- Not reported
Skybotix VI-Sensor integrated IMU
- Model
- ADIS16488
- Count
- 1
- Accel / gyro
- 200 / 200 Hz
GNSS
Not reported
LiDAR
Velodyne VLP16 Puck LITE
- Model or name
- Velodyne VLP16 Puck LITE
- Count
- 1
- Dimensions
- 3
- Rate
- 20 Hz
- Channels
- 16
- Range
- Not reported
Radar
Not reported
Additional sensors
Barometer
- Count
- 1
- Notes
- VI-Sensor pressure output in cust_imu0 where the VI-Sensor is present; count denotes its integrated pressure sensor, not another package.
Magnetometer
- Count
- 1
- Notes
- VI-Sensor magnetometer output in cust_imu0 where the VI-Sensor is present; integrated with the same navigation package.
Annotations
Reported annotation availability and task support.
- Availability
- Not reported
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Not reported
Depth ground truth
Available
Citation
Citation key and BibTeX kept at the end of the page for reference.
@misc{zhu2018mvsec,
author = {Zhu, Alex Zihao and Thakur, Dinesh and Özaslan, Tolga and Pfrommer, Bernd and Kumar, Vijay and Daniilidis, Kostas},
title = {The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception},
year = {2018},
eprint = {1801.10202},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/1801.10202v2}
}Dataset corrections
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