YCB-Ev 1.1: Event-vision dataset for 6DoF object pose estimation
This dataset addresses the need for event-vision data with accurate pose labels for researchers in robotics and computer vision, though it is incremental as it builds on existing YCB datasets.
The authors introduced the YCB-Ev dataset, providing synchronized RGB-D and event data with ground truth 6DoF object poses for 21 objects, enabling evaluation of pose estimation algorithms across modalities, and they tested two state-of-the-art algorithms on it.
Our work introduces the YCB-Ev dataset, which contains synchronized RGB-D frames and event data that enables evaluating 6DoF object pose estimation algorithms using these modalities. This dataset provides ground truth 6DoF object poses for the same 21 YCB objects that were used in the YCB-Video (YCB-V) dataset, allowing for cross-dataset algorithm performance evaluation. The dataset consists of 21 synchronized event and RGB-D sequences, totalling 13,851 frames (7 minutes and 43 seconds of event data). Notably, 12 of these sequences feature the same object arrangement as the YCB-V subset used in the BOP challenge. Ground truth poses are generated by detecting objects in the RGB-D frames, interpolating the poses to align with the event timestamps, and then transferring them to the event coordinate frame using extrinsic calibration. Our dataset is the first to provide ground truth 6DoF pose data for event streams. Furthermore, we evaluate the generalization capabilities of two state-of-the-art algorithms, which were pre-trained for the BOP challenge, using our novel YCB-V sequences. The dataset is publicly available at https://github.com/paroj/ycbev.