TUM-VIE is an event camera dataset for developing 3D perception and navigation algorithms. It contains handheld and head-mounted sequences in indoor and outdoor environments with rapid motion during sports and high dynamic range. TUM-VIE includes challenging sequences where state-of-the art VIO fails or results in large drift. Hence, it can help to push the boundary on event-based visual-inertial algorithms. The dataset contains: Stereo event data Prophesee Gen4 HD (1280x720 pixels) Stereo grayscale frames at 20Hz (1024x1024 pixels) IMU data at 200Hz 6dof motion capture data at 120Hz (beginning and end of each sequence) Timestamps between all sensors are synchronized in hardware.