Dataset


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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
|  `--images
|   |--771812250517066.png
|   |--771812283849357.png
|   `--...
|--imu
|  |--sensor.yaml
|  `--data.csv
|--vicon
|  |--sensor.yaml
|  `--data.csv
`--groundtruth
 |--sensor.yaml
 `--data.csv

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.