Training details about datasets

[wynelio]

Hi, thank you for your excellent work! Could you please tell me if you have used all the scenes of TartanAir for training? I think the amount of data may be huge.

[motzet]

Hi,

Yes, we used all scenes of TartanAir for training, but only RGB frames and depth maps from the left camera (~ 500 GB). Then, we simulate the event data using the frames (~ 370 GB). In total, we had ~ 900 GB data with RGB frames. However, you can delete the RGB frames after event simulation (not needed for training).