Datasets:

TobiasRobotics
/

brisbane-event-vpr

t uint64 1,587,453B 1,587,453B	x uint64 0 345	y uint64 0 259	p uint64 0 1
1,587,452,583,736,729	259	132	0
1,587,452,583,759,182	259	132	1
1,587,452,584,094,462	208	47	1
1,587,452,584,112,496	63	115	1
1,587,452,584,131,075	260	132	0
1,587,452,584,151,984	29	119	1
1,587,452,584,156,942	80	114	1
1,587,452,584,157,124	193	119	1
1,587,452,584,157,405	235	127	1
1,587,452,584,157,424	153	107	0
1,587,452,584,157,585	262	132	1
1,587,452,584,157,595	261	132	1
1,587,452,584,196,918	68	116	1
1,587,452,584,197,114	47	122	1
1,587,452,584,242,149	92	112	1
1,587,452,584,246,991	60	118	1
1,587,452,584,247,213	104	125	1
1,587,452,584,247,496	267	133	1
1,587,452,584,282,271	85	123	1
1,587,452,584,286,222	174	126	1
1,587,452,584,287,726	340	90	1
1,587,452,584,296,563	305	106	1
1,587,452,584,329,696	42	121	1
1,587,452,584,332,132	169	119	1
1,587,452,584,332,379	139	126	1
1,587,452,584,357,296	343	124	1
1,587,452,584,361,703	288	249	1
1,587,452,584,363,696	344	84	1
1,587,452,584,370,733	344	83	1
1,587,452,584,371,637	339	116	1
1,587,452,584,377,336	343	113	1
1,587,452,584,377,614	344	113	1
1,587,452,584,394,701	339	120	1
1,587,452,584,395,990	338	86	0
1,587,452,584,396,096	345	105	1
1,587,452,584,396,508	327	105	1
1,587,452,584,399,562	344	118	1
1,587,452,584,402,498	344	106	1
1,587,452,584,407,156	17	120	1
1,587,452,584,416,128	340	118	1
1,587,452,584,434,896	342	118	0
1,587,452,584,436,714	343	105	1
1,587,452,584,436,900	344	109	1
1,587,452,584,437,260	338	93	1
1,587,452,584,438,268	342	119	0
1,587,452,584,439,846	339	93	1
1,587,452,584,440,827	335	108	1
1,587,452,584,442,700	344	111	1
1,587,452,584,456,696	344	107	1
1,587,452,584,459,885	344	108	1
1,587,452,584,464,143	344	114	1
1,587,452,584,471,964	338	118	1
1,587,452,584,477,082	339	118	1
1,587,452,584,479,082	344	117	1
1,587,452,584,481,870	343	112	1
1,587,452,584,481,891	344	112	1
1,587,452,584,485,805	260	132	0
1,587,452,584,486,168	337	106	0
1,587,452,584,487,156	340	96	1
1,587,452,584,487,223	339	94	1
1,587,452,584,487,537	344	118	1
1,587,452,584,488,734	345	118	1
1,587,452,584,496,206	339	96	1
1,587,452,584,496,245	340	97	1
1,587,452,584,505,460	259	132	1
1,587,452,584,507,644	269	134	1
1,587,452,584,507,980	59	143	1
1,587,452,584,520,746	338	93	1
1,587,452,584,521,646	335	109	1
1,587,452,584,521,808	340	115	1
1,587,452,584,524,083	342	92	0
1,587,452,584,525,830	335	107	1
1,587,452,584,526,587	268	134	0
1,587,452,584,527,143	337	91	1
1,587,452,584,527,341	341	115	1
1,587,452,584,527,439	338	88	1
1,587,452,584,527,452	345	106	1
1,587,452,584,527,756	343	119	0
1,587,452,584,528,161	337	106	0
1,587,452,584,528,602	261	132	0
1,587,452,584,528,643	259	132	0
1,587,452,584,529,595	338	90	0
1,587,452,584,530,097	338	87	1
1,587,452,584,530,994	337	87	1
1,587,452,584,531,630	344	105	1
1,587,452,584,532,130	341	114	0
1,587,452,584,537,592	344	106	1
1,587,452,584,547,472	259	132	1
1,587,452,584,548,249	14	119	1
1,587,452,584,550,658	261	132	1
1,587,452,584,555,315	345	113	1
1,587,452,584,561,926	345	83	1
1,587,452,584,565,416	345	85	1
1,587,452,584,566,342	339	94	1
1,587,452,584,566,568	340	114	1
1,587,452,584,567,253	336	107	1
1,587,452,584,568,267	339	106	0
1,587,452,584,569,903	338	86	0
1,587,452,584,570,433	339	95	1
1,587,452,584,570,436	340	120	1

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This dataset accompanies the following publication, please cite this publication if you use this dataset:

Fischer, T. and Milford, M., 2020. Event-Based Visual Place Recognition With Ensembles of Temporal Windows. IEEE Robotics and Automation Letters, 5(4), pp.6924-6931.

@article{fischer2020event,
  title={Event-Based Visual Place Recognition With Ensembles of Temporal Windows},
  author={Fischer, Tobias and Milford, Michael},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={4},
  pages={6924--6931},
  year={2020}
}

The dataset contains five sequences of recordings. For each recording, a denoised parquet file is made available. The source files for these parquet files can be found on Zenodo. We also provide associated GPS information (*.nmea) files recorded using the consumer camera. Please see the associated code repository for more information.

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Size of the auto-converted Parquet files (First 5GB):

1.03 GB

Number of rows (First 5GB):

156,250,000