M3ED Sample#

A sample of M3ED, the multi-robot, multi-sensor, multi-environment event camera dataset, as native .mcap episodes.

A car, a quadrotor and a Boston Dynamics Spot carry the same sensor head: a stereo pair of Prophesee event cameras at 1280x720, a stereo pair of grayscale cameras and a color camera at 1280x800, an inertial unit and an Ouster OS1-64 LiDAR. Each episode carries every event of both event cameras as point clouds, one per 1/30 s window, beside a render of each window, with the cameras, the LiDAR scans and the ground-truth poses and depth.

3 sequences, one per platform: a city street by day, a quadrotor flight outdoors at night and an indoor stairwell, 192 seconds in all with 3,631,437,863 events, 4,802 image triplets and 1,921 LiDAR scans.

Details

Example usage

1import fiftyone as fo
2import fiftyone.zoo as foz
3
4dataset = foz.load_zoo_dataset("m3ed-sample")
5
6# The sequences with the busiest event streams
7view = dataset.sort_by("peak_event_rate_mev_s", reverse=True)
8
9session = fo.launch_app(dataset, view=view)
m3ed-sample