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license: mit
tags:
- event-camera
- localization
- visual-place-recognition
- robotics
- image-feature-extraction
---
## Gardens Point Event Dataset for viewpoint variant localization
This repository contains the datasets for the Gardens Point Event Dataset, consisting of two walking traverses of the same route with a severe left and right viewpoint shift.
The dataset was captured with an iniVation DAVIS346 event camera mounted to a handheld gimble with an iPhone 16 recording RGB frames and providing GPS ground truth positioning.
## Dataset structure
The dataset has the following structure:
```text
Gardens-Point-Event/
├── left/
| ├── derived/
| | ├── gps_interp.csv
| | ├── sync.json
| ├── camera_sync.csv
| ├── frames.zip
| ├── phone.jsonl
| ├── left.hdf5
| ├── session.json
|
├── right/
| ├── derived/
| | ├── gps_interp.csv
| | ├── sync.json
| ├── camera_sync.csv
| ├── frames.zip
| ├── phone.jsonl
| ├── right.hdf5
| ├── session.json
```
The `.hdf5` files contain the raw event stream from the DAVIS346, where the `derived/gps_interp.csv` contains the interpolated ground truth from the camera sync. `frames.zip`
contains RGB .jpg images from the iPhone camera taken at 1Hz, which can be used for further alignment.
`session.json` contains metadata about the recordings.
If you use this dataset in your work, please cite:
```bibtex
@misc{hines2026eventgem,
title={EventGeM: Global-to-Local Feature Matching for Event-Based Visual Place Recognition},
author={Adam D. Hines and Gokul B. Nair and Nicolás Marticorena and Michael Milford and Tobias Fischer},
year={2026},
eprint={2603.05807},
archivePrefix={arXiv},
primaryClass={cs.CV},
url={https://arxiv.org/abs/2603.05807},
}
``` |