Depth Estimation

EventKitchen provides 5.5 hours of depth data recorded at 15 fps with a resolution of 1280 x 720 using Intel RealSense D435i and D455 cameras, resulting in a total of 297,547 raw depth maps. For stereo depth estimation, we project each depth map into the field of view of the left event camera (or the right event camera) and use the projected maps as depth ground truth. Please refer to the paper for more details and statistics.

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