Event6D Dataset (Real World Capture) Real world hand held capture used as the primary test set in Event6D (CVPR 2026). Hand held capture of 14 daily YCB style objects from random viewpoints and motions. Hardware Sensor Model Resolution Rate RGB D Intel RealSense D435i 1280 × 720 30 FPS Event Prophesee IMX636 1280 × 720 ≥ 5000 FPS Calibration (intrinsics + RGB↔event extrinsic) is shipped as 0001 camchain.yaml in the Kalibr camchain format. Layout Ground truth pose format Although RGB is captured at 30 FPS, the event camera produces a continuous stream that we sample at 120 Hz. To give pose labels at the finer rate, each pose/XXXXXX.npy stores 4 poses instead of one — these are 4 evenly spaced sub timesteps that span the interval between RGB frame XXXXXX and the next RGB frame XXXXXX+1 . pose[0] is co temporal with rgb/XXXXXX.jpg (the start of the interval). pose[1] , pose[2] , pose[3] are 1/4, 2/4, 3/4 of the way to rgb/XXXXXX+1.jpg . Evaluators can therefore choose either: 30 FPS — use only pose[0] per frame, comparing against the tracker's prediction at the RGB instant; or 120 FPS — use all 4 sub timesteps, comparing against pose predictions emitted at each event sub step. Event f…
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