  Event cameras have recently gained in popularity as they hold strong
potential to complement regular cameras in situations of high dynamics or
challenging illumination. An important problem that may benefit from the
addition of an event camera is given by Simultaneous Localization And Mapping
(SLAM). However, in order to ensure progress on event-inclusive multi-sensor
SLAM, novel benchmark sequences are needed. Our contribution is the first
complete set of benchmark datasets captured with a multi-sensor setup
containing an event-based stereo camera, a regular stereo camera, multiple
depth sensors, and an inertial measurement unit. The setup is fully
hardware-synchronized and underwent accurate extrinsic calibration. All
sequences come with ground truth data captured by highly accurate external
reference devices such as a motion capture system. Individual sequences include
both small and large-scale environments, and cover the specific challenges
targeted by dynamic vision sensors.
