SLAM Competition

Dataset

Download

Training Data: download from Lab Server.
Test Data: download from Lab Server.

Dataset Format

Each sequence would provide several ‘sensors’ along with their sensor.yaml file that specifies sensor type, intrinsic and extrinsic parameters. The sensor measurements(or measurement indices, for camera) is stored in data.csv. In our case, both camera and IMU data would be provided. The vicon and groundtruth is also treated like a ‘sensor’. Here is an example:

Motion and SceneType of Sequences

Sequence	Motion	Scene	Description
C0	inspect + patrol	floor	Walking and looking around the glossy floor.
C1	inspect + patrol	clean	Walking and looking around some texture-less areas.
C2	inspect + patrol	mess	Walking around some random objects.
C3	aiming + inspect	mess + floor	Random objects first, and then glossy floor.
C4	aiming + inspect	desktop + clean	From a small scene to a texture-less area.
C5	wave + inspect	desktop + mess	From a small scene to a texture-rich area.
C6	hold + inspect	desktop	Looking at a small desktop scene.
C7	inspect + aiming	desktop	Looking at a small desktop scene
C8	inspect + forward	clean	Walking forward in texture-less area at low position.
C9	inspect + forward	mess	Walking forward in texture-rich area at low position.
C10	inspect + downward	clean	Walking backward in texture-less area at low position.
C11	inspect + downward	mess	Walking backward in texture-rich area at low position.
D0	rapod + rotation	desktop	Rotating the phone rapidly at some time.
D1	rapod + translation	desktop	Moving the phone rapidly at some time.
D2	rapid + shaking	desktop	Shaking the phone violently at some time.
D3	inspect	moving people	A person walks in and out.
D4	inspect	covering camera	An object occasionally occluding the camera.
D5	inspect	desktop	Similar to A6 but with black frames.
D6	inspect	desktop	Similar to A6 but with black frames.
D7	inspect	desktop	Similar to A6 but with black frames.
D8	inspect	foreground + background	Walking around the near plane and far plane.
D9	inspect	plant	Walking around the plant.
D10	loop	office	Walking around the office with loop closure.