---
license: cc-by-4.0
task_categories:
- robotics
- visual-slam
tags:
- event-camera
- drone-navigation
- slam
- ros
- uav
- vio
pretty_name: Edged-USLAM Dataset (DAVIS346)
size_categories:
- 1GB-10GB
---

# Edged-USLAM Dataset: Drone Navigation with Event Camera

### 🔗 Citation
```yaml 
@inproceedings{sariozkan2026edged,
  title={Edged USLAM: Edge-Aware Event-Based SLAM with Learning-Based Depth Priors},
  author={Sarıözkan, Şebnem and Şahin, Hürkan and Álvarez-Tuñón, Olaya and Kayacan, Erdal},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2026}
}
```
### ℹ️ Extra Info
[Project Page](https://sebnem-byte.github.io/edged-uslam.github.io/)

This dataset contains synchronized **Event Camera (DAVIS346)**, **IMU**, and **Ground Truth (Motion Capture)** data recorded for the evaluation of **Edged-USLAM**
The recordings include diverse motion profiles (aggressive 6-DoF, square, line trajectories) and challenging illumination conditions (Low-light, HDR, Dynamic Lighting).

## 📂 2. Dataset Structure

The dataset is organized into three main folders. **Please pay attention to the Ground Truth topic** as it changes depending on the folder.

### **1. `motion/` (Motion Categories) **
* **Description:** Aggressive and distinct trajectory maneuvers.
* **Sequences:**
    * `line.bag`
    * `square.bag`
    * `turner.bag` (Aggressive turning)
    * *(Other motion sequences like `circle`, `aggressive` are included here)*
* **📍 Ground Truth Topic:** `/mavros/vision_pose/pose`

### **`filtered/`**
* **Description:** Recorded with an **IR-filtered lens** attached to the DAVIS346.
* **Effect:** Improves robustness under strong illumination but reduces sensitivity.
* **Sequences:** Includes illumination variations (`low-lit`, `dynamic HDR`, `constant HDR`, `30% lit`, `60% lit`).
* **📍 Ground Truth Topic:** `/local_pose_vicon/pose`

### **`unfiltered/`**
* **Description:** Recorded with the **Default (non-filtered) lens**.
* **Effect:** Preserves the original DAVIS346 response, including IR wavelengths.
* **Sequences:** Includes illumination variations (`low-lit`, `dynamic HDR`, `constant HDR`, etc.) for spectral comparison.
* **📍 Ground Truth Topic:** `/local_pose_vicon/pose`

---

### **2. `Illumination/` (Illumination Category) **
These folders contain identical flight paths recorded with different lens configurations to test photometric robustness.

* **Focus:** Robustness against HDR, Low-light, and sudden lighting changes.
* **Sequences included (in both folders):**
  * `low-lit` (< 5 Lux)
  * `30% lit`
  * `60% lit`
  * `dynamic HDR` (Blinking lights)
  * `constant HDR` (Strong side light/Sunlight)
* **Folder Differences:**
  * **`filtered/`**: IR-filtered lens (Better for HDR, less sensitive in dark).
  * **`unfiltered/`**: Default lens (High sensitivity, includes IR spectrum).
* **📍 Ground Truth Topic:** `/local_pose_vicon/pose`

---

## 📝 3. Notes
* **Synchronization:** All sequences are timestamp-synchronized across topics.
* **Ground Truth Frame:** In both cases, the pose provides 6-DoF UAV pose in the Vicon frame.
* **Performance:** As shown in our paper (Table III), `motion` sequences test geometric robustness, while `filtered/unfiltered` sequences test photometric robustness under HDR and low-light.

---

## 📡 1. Sensor Topics

| Topic | Type | Description |
| :--- | :--- | :--- |
| `/dvs/events` | Event Stream | DAVIS346 asynchronous events |
| `/dvs/image_raw` | Image | Grayscale intensity frames (APS) |
| `/dvs/imu` | IMU | Accelerometer + Gyroscope (200Hz) |
| `/mavros/vision_pose/pose` | Pose | **GT for `motion/` folder** |
| `/local_pose_vicon/pose` | Pose | **GT for `filtered/` & `unfiltered/` folders** |

---

## ⚙️ Calibration Parameters (DAVIS-IJRR17)

**Camera Model:** Pinhole with Radial-Tangential Distortion  
**Resolution:** 346 x 260

```yaml
# Intrinsics
fx: 254.6368
fy: 253.6548
cx: 168.9970
cy: 121.0141

# Distortion (Radial-Tangential)
k1: -0.3755
k2: 0.1311
p1: 0.00137
p2: -0.00159

# Extrinsics (Camera to IMU/Body)
# Translation (m): [0.0067, 0.0007, 0.0343] (approx 3.4cm offset in Z)
# Rotation: Identity matrix
```