在仿真中生成真实感事件相机数据，加速机器人感知开发。
EVIS: A Physics-Grounded Event Camera Plugin for NVIDIA Isaac Sim
- 基于物理模型的事件相机插件，模拟微秒级响应与高动态范围。
- 单张GPU实时生成高帧率带标签事件流，支持关键帧插值。
- 兼容NVIDIA Isaac Sim，适合需要真实数据的机器人研究者。
事件相机具备微秒级时间分辨率、低延迟和高动态范围，适用于机器人领域。然而，特定机器人与场景的标注事件数据稀缺且采集成本高昂，制约了事件感知与控制的发展。本文提出EVIS：一种基于物理的事件相机插件，集成于NVIDIA Isaac Sim，可在物理仿真环境中直接生成高频率、全标注的事件流。该插件实现基于对数强度对比的像素级异步更新模型；仅需少量修改即可从普通RGB相机迁移，可嵌入任意Isaac Sim / Isaac Lab场景，继承其物理特性和帧对齐的真实标签。插件完全可配置，提供仅渲染稀疏关键帧并以双向运动矢量扭曲合成中间帧的插值选项，实现在单块GPU上实时生成。可选的传感器噪声与运动模糊进一步缩小与真实相机的差距。生成的事件流可直接用于预训练事件网络完成下游任务。代码仓库：https://github.com/spikelab-jhu/isaac-sim-event-camera-plugin
原文摘要 · Abstract (English)
Event cameras offer microsecond temporal resolution, low latency, and high dynamic range, making them attractive for robotics. However, labeled event-camera data for a specific robot and scene is scarce and expensive to collect, which slows the development of event-based perception and control. We present EVIS: a physics-grounded event camera plugin for NVIDIA Isaac Sim that generates high-rate, fully labeled event streams directly inside a physics simulator. The plugin implements a faithful log-intensity contrast event model with per-pixel asynchronous reference updates; it migrates from a normal RGB camera with few changes and integrates into any Isaac Sim / Isaac Lab scene, inheriting the simulator's physics and frame-perfect ground truth. It is fully configurable, and offers an interpolation option that renders only sparse keyframes and synthesizes the in-between frames through bidirectional motion-vector warping, making real-time generation on a single GPU possible. Optional sensor noise and motion blur further narrow the gap to real cameras. The generated streams are directly usable by pretrained event networks for downstream tasks. Code repository: https://github.com/spikelab-jhu/isaac-sim-event-camera-plugin
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