Dataset
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:
A01
|--camera
| |--sensor.yaml
| |--data.csv
| `--data
| |--771812250517066.png
| |--771812283849357.png
| `--...
|--imu
| |--sensor.yaml
| `--data.csv
|--vicon
| |--sensor.yaml
| `--data.csv
`--groundtruth
|--sensor.yaml
`--data.csv
Download
You can download from our server or Google Drive.
Motion and Scene Type of Sequences
| Sequence | Motion | Scene | Description | ||
| Xiaomi MI8 | A0 | inspect+patrol | floor | Walking and looking around the glossy floor. | |
| A1 | inspect+patrol | clean | Walking around some texture-less areas. | ||
| A2 | inspect+patrol | mess | Walking around some random objects. | ||
| A3 | aiming+inspect | mess+floor | Random objects first, and then glossy floor. | ||
| A4 | aiming+inspect | desktop+clean | From a small scene to a texture-less area. | ||
| A5 | wave+inspect | desktop+mess | From a small scene to a texture-rich area. | ||
| A6 | hold+inspect | desktop | Looking at a small desktop scene. | ||
| A7 | inspect+aiming | desktop | Looking at a small desktop scene. | ||
| iPhone X | B0 | rapid-rotation | desktop | Rotating the phone rapidly at some time. | |
| B1 | rapid-translation | desktop | Moving the phone rapidly at some time. | ||
| B2 | rapid-shaking | desktop | Shaking the phone violently at some time. | ||
| B3 | inspect | moving people | A person walks in and out. | ||
| B4 | inspect | covering camera | An object occasionally occluding the camera. | ||
| B5 | inspect | desktop | Similar to A6 but with black frames. | ||
| B6 | inspect | desktop | Similar to A6 but with black frames. | ||
| B7 | inspect | desktop | Similar to A6 but with black frames. |