---
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}, 
}
```