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This paper introduces EVIS, a physics-grounded event camera plugin for NVIDIA Isaac Sim that generates high-rate, fully labeled event streams within a physics simulator, addressing the scarcity of labeled event-camera data for robotics. By implementing a log-intensity contrast event model and utilizing bidirectional motion-vector warping, EVIS enables real-time generation of event data on a single GPU while maintaining fidelity to real-world conditions through configurable sensor noise and motion blur. The resulting event streams are directly compatible with pretrained event networks, facilitating advancements in event-based perception and control in robotic applications.
EVIS bridges the gap between simulation and real-world event-camera data, enabling rapid prototyping and testing for robotics without the costly data collection process.
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
