Duplicate from viciopoli/VibES

Co-authored-by: Vincenzo Polizzi <viciopoli@users.noreply.huggingface.co>

.gitattributes

@@ -0,0 +1,72 @@
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+logo.pdf filter=lfs diff=lfs merge=lfs -text
+amiev_sev.hdf5 filter=lfs diff=lfs merge=lfs -text
+amiev_vib.hdf5 filter=lfs diff=lfs merge=lfs -text
+checkerpattern_sev.hdf5 filter=lfs diff=lfs merge=lfs -text
+checkerpattern_vib.hdf5 filter=lfs diff=lfs merge=lfs -text
+logo_sev.hdf5 filter=lfs diff=lfs merge=lfs -text
+logo_vib.hdf5 filter=lfs diff=lfs merge=lfs -text
+pattern_ev.hdf5 filter=lfs diff=lfs merge=lfs -text
+pattern_vib.hdf5 filter=lfs diff=lfs merge=lfs -text
+stagger_30hz_21_vib.hdf5 filter=lfs diff=lfs merge=lfs -text
+stagger_30hz_31_vib.hdf5 filter=lfs diff=lfs merge=lfs -text
+stagger_30hz_32_vib.hdf5 filter=lfs diff=lfs merge=lfs -text
+stagger_sev.hdf5 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,113 @@
+---
+license: apache-2.0
+language:
+- en
+size_categories:
+- n<1K
+tags:
+- event-camera
+- neuromorphic-vision
+- motion-compensation
+- frequency-estimation
+- vibration
+- hdf5
+pretty_name: VibES Event Camera Datasets
+task_categories:
+- robotics
+arxiv: 2508.19094
+configs:
+  - config_name: amiev
+    data_files: "amiev_*.hdf5"
+  - config_name: checkerpattern
+    data_files: "checkerpattern_*.hdf5"
+  - config_name: logo
+    data_files: "logo_*.hdf5"
+  - config_name: stagger
+    data_files: "stagger_*.hdf5"
+  - config_name: pattern
+    data_files: "pattern_*.hdf5"
+---
+
+# Dataset Card for VibES Event Camera Datasets
+
+## Dataset Description
+
+* **Paper:** VibES: Induced Vibration for Persistent Event-Based Sensing (3DV 2026)
+* **Webpage** [papers.starslab.ca/vibes](https://papers.starslab.ca/vibes/)
+
+### Dataset Summary
+
+The VibES dataset contains **event-based camera recordings** collected under **static** and **mechanically induced vibration** conditions.
+It is intended for research on **motion compensation**, **frequency and phase estimation**, and **vibration-aware event-based perception**.
+
+The dataset includes both **real** and **synthetic** event streams, stored in **Prophesee / Metavision HDF5 format**.
+
+## Dataset Structure
+
+### Data Instances
+
+Each instance is an **HDF5 file** containing asynchronous event streams captured from an event camera or generated synthetically.
+
+### Data Fields
+
+All files follow the **Prophesee / Metavision HDF5 format**:
+
+* `/CD/events`: event stream (`x`, `y`, `t`, `p`)
+* `/CD/indexes`: event indexing
+* `/EXT_TRIGGER/events`: external trigger events
+* `/EXT_TRIGGER/indexes`: trigger indexing
+
+---
+
+## Dataset Creation
+
+### Curation Rationale
+
+The dataset was created to study how **induced mechanical vibrations** can improve robustness and persistence in event-based sensing.
+
+### Source Data
+
+#### Initial Data Collection and Normalization
+
+* `amiev_*`: real event data from *Microsaccade-inspired event camera for robotics*, converted to Prophesee-style HDF5
+* `checkerpattern`, `logo`, `pattern`: real event-based recordings
+* `stagger_*`: **synthetic** event sequences with controlled motion
+* `stagger_30hz_*_vib`: synthetic vibration at approximately **30 Hz**
+
+---
+
+### Annotations
+
+No manual annotations are provided.
+
+### Personal and Sensitive Information
+
+The dataset does **not** contain personal or sensitive information.
+
+---
+
+## Additional Information
+
+### Licensing Information
+
+This dataset is released under the **Apache License, Version 2.0**.
+
+### Citation Information
+
+If you use this dataset, please cite:
+
+```bibtex
+@inproceedings{polizzi_2026_3DV,
+  title={VibES: Induced Vibration for Persistent Event-Based Sensing},
+  author={Polizzi, Vincenzo and Yang, Stephen and Clark, Quentin and
+          Kelly, Jonathan and Gilitschenski, Igor and Lindell, David B.},
+  booktitle={International Conference on 3D Vision (3DV)},
+  year={2026}
+}
+```
+
+### Contributions
+
+Contributions and issues are welcome via the repository.
+
+---

amiev_sev.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6e3d7ebf0abe8ffd9910fe4369df3df95a47fa097186e43403ab7d29788e5c6
+size 136720055

amiev_vib.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfb3c147707ab08175dbe361a5763fbd9afb0a6c5a40d3b1d584c838f26e026c
+size 651584855

checkerpattern_sev.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad962c603552f5240080c4cf63f3e68c16c0f53e4f2663d720954b88fc20e88
+size 444192370

checkerpattern_vib.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7609e1c3132bc115fd776fa23e646ed2980f46324681cd22022556d4dc5b6235
+size 2121114491

intrinsics.json

@@ -0,0 +1,185 @@
+{
+    "n_kept_views": 43,
+    "image_size": [ 1280, 720 ],
+    "pattern": {
+        "n_rows": 6,
+        "n_cols": 9,
+        "square_height": 1.9999999552965164e-02,
+        "square_width": 1.9999999552965164e-02
+    },
+    "camera_matrix": {
+        "type_id": "opencv-matrix",
+        "rows": 3,
+        "cols": 3,
+        "dt": "d",
+        "data": [ 1.0475572676402746e+03, 0.0, 6.4173715718665596e+02,
+            0.0, 1.0475572676402746e+03, 3.6611201820380518e+02, 0.0,
+            0.0, 1.0 ]
+    },
+    "distortion_coefficients": {
+        "type_id": "opencv-matrix",
+        "rows": 1,
+        "cols": 5,
+        "dt": "d",
+        "data": [ -4.3529246772150115e-01, 1.9810831962210826e-01,
+            1.0301385070013150e-03, -4.2305713845788438e-04, 0.0 ]
+    },
+    "selected_views": [ 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+        1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1,
+        1, 1, 1, 1, 0, 1, 1, 1, 1 ],
+    "overall_rms_reprojection_error": 8.9383196830749512e-01,
+    "per_view_rms_reprojection_errors": [ 5.85334837e-01, 1.26715946e+00,
+        7.44447112e-01, 7.00154006e-01, 6.63461566e-01, 8.72650862e-01,
+        6.84571445e-01, 7.27300286e-01, 1.13071692e+00, 6.83877289e-01,
+        7.97144651e-01, 1.23582995e+00, 7.38511980e-01, 6.90190196e-01,
+        5.50518632e-01, 1.69902110e+00, 6.76845968e-01, 6.17786646e-01,
+        6.58825040e-01, 5.98244369e-01, 5.80078006e-01, 5.52743077e-01,
+        4.73051369e-01, 6.80073619e-01, 5.20244837e-01, 4.93081957e-01,
+        4.85231668e-01, 4.47927624e-01, 5.41552722e-01, 9.51571286e-01,
+        1.01443350e+00, 9.02435660e-01, 1.48791361e+00, 1.69320536e+00,
+        1.03286505e+00, 1.65243244e+00, 7.97796428e-01, 6.69569850e-01,
+        7.30702639e-01, 9.47219372e-01, 9.40698624e-01, 6.83143616e-01,
+        1.15926313e+00 ],
+    "rvecs": {
+        "type_id": "opencv-matrix",
+        "rows": 43,
+        "cols": 3,
+        "dt": "d",
+        "data": [ 7.9594161745349001e-02, 1.2991913192626553e-01,
+            -3.8059681219496377e-02, -5.9253604332258514e-02,
+            1.0598832996872953e-01, 5.5571857856110678e-02,
+            5.8570810548073546e-02, 6.9495981487705805e-02,
+            5.8572971173453420e-02, 3.9241381434098041e-02,
+            8.2457310743533893e-02, 2.0671682290214200e-02,
+            1.7852533413926026e-02, -4.1750811279031519e-02,
+            1.9380203777018587e-02, 1.6073788762053789e-01,
+            1.8743526276562050e-01, -1.2455093264832115e-02,
+            2.3419010218110957e-02, 1.5691282731482448e-01,
+            -3.0337659078475791e-02, 1.8488487114572138e-02,
+            1.7119811088217338e-01, -5.4834493643841777e-02,
+            3.9064842484365786e-02, -1.0543467695676334e-01,
+            -3.1840329244115631e-02, 5.8420275970215447e-03,
+            -5.8466339114958882e-02, 4.4123192686086853e-02,
+            4.0970763623893406e-03, 1.9376764648648400e-02,
+            3.0239257114337292e-02, 3.1049280656368035e-02,
+            -1.1367724916318291e-01, -5.7993280097992123e-02,
+            9.4289407846440076e-02, -5.1907334758898312e-02,
+            -2.3847470805044148e-02, 8.2955551698481317e-02,
+            -2.2773317980458764e-03, -1.0259922963285430e-01,
+            1.4321750032339226e-01, 1.0906718713182455e-02,
+            -2.4000299391515399e-02, 1.3321944112791523e-01,
+            1.3668758448536086e-01, 2.4350441596008130e-03,
+            1.3687013223936847e-01, 1.8656400250101804e-01,
+            2.8423110495555893e-02, 4.9206427097543692e-02,
+            1.7579093797427620e-01, -1.9419028940166946e-03,
+            2.5518407859852960e-02, 1.3099379185696980e-01,
+            -1.6644193097440960e-04, 2.9619886317495226e-02,
+            5.2143621606863769e-02, -2.5547229320924854e-02,
+            2.6173422274039838e-02, -1.5747219177849735e-02,
+            -3.5659760560442073e-02, 4.2332311244927756e-02,
+            -7.2619353562095465e-02, -7.0190341481037831e-03,
+            4.3566853699222925e-02, 1.6808902040068501e-02,
+            1.8613680510584551e-02, 2.0133438483192372e-02,
+            -3.4006072789602719e-04, 1.7181825105396238e-02,
+            7.2189093855254211e-02, -2.8424401851495845e-02,
+            1.7840082164942740e-02, 7.8242541256372533e-02,
+            -2.9518207758850893e-02, -1.1318903350676351e-02,
+            6.5919949600436331e-02, -3.8949445610137530e-02,
+            -3.4747050397954095e-02, 1.1181491983668244e-01,
+            -6.5971696409496225e-02, -1.4888498475459187e-04,
+            2.5237902863345929e-02, -5.6165878005558688e-02,
+            2.3631971590049729e-02, 1.1879431915395676e-01,
+            -7.4443668059216983e-02, 3.8859066938649788e-02,
+            9.8344107351932344e-02, -8.2858033870061770e-02,
+            3.6184386217951420e-02, 8.4643886117624773e-02,
+            -7.1038221248200181e-02, -1.0688229033630585e-02,
+            1.4436065850242779e-02, -3.3098528224482379e-02,
+            1.6366546749516954e-04, -1.4618826440734528e-02,
+            -6.0765442912174306e-01, -7.0745790513734461e-02,
+            7.0235409130896986e-01, 8.7556214429560936e-02,
+            -7.8859072950792461e-02, -2.5472889230601681e-01,
+            -2.9445360785228591e-02, -8.3097291215046998e-02,
+            -3.4517953886648461e-01, 6.3726891466640623e-02,
+            4.2165566813206740e-02, -4.0830055338011324e-02,
+            5.1925119778967044e-01, -6.8661546405654708e-02,
+            -2.4534624080407796e-02, 5.0535205706066721e-01,
+            -4.3928322522533148e-02, -4.8299856938509432e-02,
+            2.9949356219727263e-01, -8.0885676463740688e-02,
+            -1.3654029763923209e-02, 8.2534974012242780e-03,
+            2.4441877643040448e-02, 1.6971156016773522e-03,
+            7.0539289144306683e-02, 4.1941834071902995e-02,
+            -5.1794419202190196e-04, 7.9928072802096281e-02,
+            1.7346928921404135e-02 ]
+    },
+    "tvecs": {
+        "type_id": "opencv-matrix",
+        "rows": 43,
+        "cols": 3,
+        "dt": "d",
+        "data": [ -1.0599336817471729e-03, -5.3537146559550101e-02,
+            2.7085724553383161e-01, -1.8324862245693876e-02,
+            -2.6078128492350791e-02, 2.5801396089249734e-01,
+            -2.8493705780709144e-02, -6.5985086480614907e-02,
+            2.6052371491047555e-01, -3.3674407096888063e-02,
+            -5.4769479630609713e-02, 2.3482188192843906e-01,
+            -6.9135869251582133e-02, -4.4096306984927607e-02,
+            3.4284181825240428e-01, 3.7667671268382191e-02,
+            -9.8477418037418038e-02, 3.3294714960510891e-01,
+            4.1499010880534891e-02, -1.6539511067158001e-02,
+            3.2081249607576207e-01, 3.8897883383242668e-02,
+            -1.3416198985724614e-02, 3.2341853671538845e-01,
+            -1.2438946844014924e-01, -3.3999984869450127e-02,
+            3.0317594329741343e-01, -1.0199270131552592e-01,
+            -2.1156933935602990e-02, 2.8089711000022760e-01,
+            -4.7365966732885144e-02, -2.1684967708937235e-02,
+            2.9116665772249911e-01, -1.5116553589881074e-01,
+            -2.7606070149786319e-02, 2.7507090711857779e-01,
+            -1.2505906578201351e-01, -7.2465647969562424e-02,
+            2.6291998436093639e-01, -1.2060684459723410e-01,
+            -4.7993681878159056e-02, 2.5969101521212901e-01,
+            -9.2880978619274149e-02, -8.4976130735079425e-02,
+            2.8155818720236875e-01, -2.9459600125960508e-02,
+            -8.4518851620856691e-02, 2.8004162197054061e-01,
+            5.8137910102056232e-03, -9.0303733502035716e-02,
+            2.7665918106202153e-01, -3.8840389997253275e-04,
+            -4.2876161291778701e-02, 2.8152239016979302e-01,
+            -2.2893444326777094e-02, -3.2609580092735041e-02,
+            2.8425466402591271e-01, -7.1741314345325075e-02,
+            -3.4179690964420736e-02, 2.7823368328574111e-01,
+            -1.1985158603366965e-01, -2.9003568548521610e-02,
+            2.7024516887255534e-01, -1.4719031158145132e-01,
+            -3.8425220948479381e-02, 2.6170888234678652e-01,
+            -9.9467211672535499e-02, -4.5565601066723485e-02,
+            2.7833445952409047e-01, -1.0268556500530274e-01,
+            -2.3716660298604267e-02, 2.7880975486215304e-01,
+            -1.1935704148851438e-01, -6.1388955155298006e-02,
+            2.7179812153356736e-01, -1.2576634071271461e-01,
+            -6.1735025866362876e-02, 2.7011437990151538e-01,
+            -1.4195282967076656e-01, -5.4634241973246400e-02,
+            2.7038110567716322e-01, -1.5705361053507425e-01,
+            -5.8629952291505839e-02, 2.5730932326723654e-01,
+            -1.5111881215161224e-01, -2.1451373497390843e-02,
+            2.6235281951708761e-01, -1.4903059447447153e-01,
+            -8.3715478396405862e-02, 2.5256612357701652e-01,
+            -1.5464978653435382e-01, -7.2386199716604510e-02,
+            2.5605078537094561e-01, -1.6087957294895275e-01,
+            -3.7292969227018823e-02, 2.3917664713402642e-01,
+            -9.8017409171842526e-02, -5.0897808488010725e-02,
+            2.2058413714285099e-01, -8.9901101650536067e-02,
+            -5.3803283712897956e-02, 1.8726492060559979e-01,
+            -9.2807354590983673e-02, -2.5635299955262938e-02,
+            1.9945604887557231e-01, -1.1685817210245229e-01,
+            -2.8131730905883164e-02, 2.0837458808361820e-01,
+            -8.5003443246437771e-02, -6.5400595365971953e-02,
+            2.3480019750761910e-01, -8.9359255973992968e-02,
+            -3.5447405275656194e-02, 2.7591285104824698e-01,
+            -8.5810910845586022e-02, -4.3526312616673911e-02,
+            2.8909570353481023e-01, -1.5466572095751252e-01,
+            -4.1897003401316274e-02, 2.6869934725060196e-01,
+            -1.0913895852551775e-01, -5.3690311792225720e-02,
+            2.1834803998296062e-01, -8.5602878358806922e-02,
+            -5.5182833974539824e-02, 2.1231543747037718e-01,
+            -7.9877312998574021e-02, -6.6464185356622324e-02,
+            2.1340931486309681e-01 ]
+    }
+}

logo.pdf

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92318309f8ec56300b00030569210eb3b10a66cd6a142f34c5380ed292e00ef9
+size 220800

logo_sev.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4fe633dc9d9cef6b91e28955f1255f742dd3a9fe98f68f2f1efc93e16ddde9d
+size 819854976

logo_vib.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a89781adf001a9d1552d32c649e6023c46be2e28d652eb611ae49235b77aec7
+size 5132596659

pattern_ev.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e2acd7e114480b78b83bde5e3caeef3b2315a984f9c48a0b69de90c190ab136
+size 417929265

pattern_vib.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5de31d30b6395ef8169305dec475789e5b1983b7d01728d0ef4b089234a5ed0
+size 949094266

stagger_30hz_21_vib.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c720a44712820217acae9358a28edc5b9f618a37af6c274e463fb6d6756a1e14
+size 2147456279

stagger_30hz_31_vib.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec2bacfe924cbcc1963f0ee8dd0dbefd10ae26d602cab65172c0d26af7b569f
+size 1386725761

stagger_30hz_32_vib.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded39d7eddd372ee4d61406d5de4bc39df7f0af93a9953b6f5c2aa2616111778
+size 1858726517

stagger_sev.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f9e290b8070e46b6a8fe954e9bfb15d479800aebdce228169c1d63faab72c57
+size 130327128