Depth Estimation

EventKitchen provides 5.5 hours of depth stream at 15 fps with the resolution of 1280 x 720 from the Intel RealSense D435i/D455 camera, resulting in in total 297,547 raw depth maps. The EventKitchen conduct stereo depth estimation, where we project the depth map to the left event camera (can also project to the right event camera) and serve as depth ground truth. Please refer to the paper for more details of the statistics.

The depth maps are saved in .avi videos, with the corresponding global timestamps per frame saved in .csv file, as described in Download. We provide scripts to extract depth maps and rectify data in the EventKitchen toolkit.