We provide several types of sequences for evaluating the multi-spectral nvigation systems. The naming is explained below. The key words have been bolded.
- Scene:
- desk: Sequences in the room with Motion Capture system, where ground truth poses are available for the entire trajectory.
- magistrale: Sequences featuring a walk around in a university building. Ground truth poses are available for the start and end segments.
- outdoor: Outdoor sequences. Ground truth poses are available for the start and end segments.
- lift: Specially changeling sequences which contain the camera leads to different floors via elevator. Ground truth poses are available for the start and end segments.
- Illumination:
- bright: Most desk sequences recorded in bright environments,
- varing: ic data with lights turned on and off randomly.
- dim: dim data where the scene is dark.
- complex: magistrale and outdoor sequences are recorded under complex illumination.
- Motion:
- halfsphere : the camera moves along the trajectory of a halfsphere with a diameter of 1m.
- xyz : the camera moves approximately along the x, y, and z axes.
- rpy : the camera only rotates with roll, pitch, and yaw motion.
- circle : the camera moves approximately around a circle.
- static : the camera is nearly motionless.
- Other:
- dy : a person is walking around in front of the setup to add disturbances.
- person : a person sitting in front of a desk to provide striking contrasts in textures in the thermal images.
- day : the data is collected before sunset
- night : the data is collected after sunset
The bag files contain the following message topics:
- /camera/image_raw (sensor_msgs/Image): raw color images from the standard camera
- /optris/thermal_image (sensor_msgs/Image): raw thermal images from the LWIR camera
- /camera/flag_state (msdi_ros/Flag): flag states of the LWIR camera
- /kinect2/qhd/image_color_rect (sensor_msgs/Image): Rectified color images from Kinect2
- /kinect2/qhd/image_depth_rect (sensor_msgs/Image): Rectified depth images from Kinect2
- /kinect2/sd/image_ir_rect (sensor_msgs/Image): Rectified near infrared (NIR) images from Kinect2
- /imu/data (sensor_msgs/Imu): IMU data (only for the complex environment)
- /vrpn_client_node/RigidBody/pose (geometry_msgs/PoseStamped): raw poses from the motion capture system
msdi_ros/Flag is a msg defined in Bag_extractor package(Github Page). It only has two parts:
Header header
uint32 flag_state
A example (Github Page) of how to extract multi-spectal data from bags and how to genarate dense depth images on the standard camera's viewpoint.
| Sequence Name | Duration(s) | Size(GB) | Avg. Trans. Vel. [m/s] | Avg. Rot. Vel. [deg/s] | link(Baidu Pan） | link(Google Drive) | Difficulty |
|---|---|---|---|---|---|---|---|
| desk1-halfsphere | 68.34 | 5.18 | 0.1266 | 13.2977 | 提取码: ztbz 链接 | Download | Easy |
| desk1-rpy | 61.40 | 7.32 | 0.0524 | 15.6739 | 提取码: myuc 链接 | Download | Easy |
| desk1-static | 25.28 | 3.03 | 0.0014 | 1.2815 | 提取码: rm96 链接 | Download | Easy |
| desk1-xyz | 48.55 | 5.93 | 0.1662 | 12.5325 | 提取码: mpuk 链接 | Download | Easy |
| desk2-circle | 34.53 | 3.81 | 0.1261 | 9.7276 | 提取码: 2dq5 链接 | Download | Easy |
| desk2-halfsphere | 44.32 | 5.18 | 0.0965 | 8.6699 | 提取码: 5c9m 链接 | Download | Easy |
| desk2-rpy | 47.70 | 5.52 | 0.0450 | 13.3737 | 提取码: 936f 链接 | Download | Easy |
| desk2-static | 33.37 | 3.99 | 0.0113 | 2.6567 | 提取码: uyu2 链接 | Download | Easy |
| desk2-xyz | 44.96 | 3.99 | 0.1492 | 8.2026 | 提取码: 9jt8 链接 | Download | Easy |
| desk1-circle-person | 33.81 | 4.07 | 0.2060 | 13.3581 | 提取码: bhgk 链接 | Download | Easy |
| desk1-halfsphere-person | 76.97 | 9.37 | 0.1097 | 10.7502 | 提取码: i827 链接 | Download | Easy |
| desk1-rpy-person | 60.09 | 7.10 | 0.0484 | 15.7353 | 提取码: d2di 链接 | Download | Easy |
| desk1-rpy-person-slow | 59.53 | 6.93 | 0.0448 | 18.3272 | 提取码: queg 链接 | Download | Easy |
| desk1-static-person | 19.97 | 2.14 | 0.0020 | 1.4005 | 提取码: j94s 链接 | Download | Easy |
| desk1-xyz-person | 51.16 | 6.23 | 0.1422 | 11.9822 | 提取码: 69ue 链接 | Download | Easy |
| desk1-halfsphere-dy | 64.07 | 7.28 | 0.1425 | 13.0772 | 提取码: kfjj 链接 | Download | Easy |
| desk1-rpy-dy | 48.45 | 5.48 | 0.0546 | 14.5771 | 提取码: gced 链接 | Download | Easy |
| desk1-static-dy | 24.92 | 2.81 ) | 0.0013 | 0.4209 | 提取码: s4ye 链接 | Download | Easy |
| desk1-xyz-dy | 48.76 | 5.38 | 0.1542 | 7.5778 | 提取码: 3axs 链接 | Download | Easy |
| Sequence Name | Duration(s) | Size(GB) | Avg. Trans. Vel. [m/s] | Avg. Rot. Vel. [deg/s] | link(Baidu Pan) | link(Google Drive) | Difficulty |
|---|---|---|---|---|---|---|---|
| desk1-rpy-ic | 62.84 | 7.20 | 0.0485 | 15.5414 | 提取码: vat8 链接 | Download | Hard |
| desk1-halfsphere-ic | 73.58 | 8.48 | 0.1125 | 12.2998 | 提取码: 8vti 链接 | Download | Hard |
| desk1-static-ic | 27.67 | 3.05 | 0.0015 | 0.4493 | 提取码: tf7k 链接 | Download | Hard |
| desk1-static-ic-lampon | 24.74 | 2.77 | 0.0009 | 0.4519 | 提取码: 9k6t 链接 | Download | Hard |
| desk1-xyz-ic | 67.29 | 7.81 | 0.1243 | 9.6570 | 提取码: gac5 链接 | Download | Hard |
| desk2-circle-ic | 30.13 | 3.36 | 0.1246 | 7.5655 | 提取码: ccgx 链接 | Download | Hard |
| desk2-rpy-ic | 64.88 | 7.30 | 0.0475 | 10.9869 | 提取码: htej 链接 | Download | Hard |
| desk2-static-ic | 23.95 | 2.74 | 0.0348 | 5.4931 | 提取码: iw59 链接 | Download | Hard |
| desk2-xyz-ic | 52.17 | 5.77 | 0.1150 | 11.8753 | 提取码: pc4k 链接 | Download | Hard |
| desk2-halfsphere-ic | 73.58 | 8.48 | 0.1005 | 8.0885 | 提取码: tw2d 链接 | Download | Hard |
| desk1-halfsphere-ic-person | 66.99 | 7.45 | 0.1158 | 13.6747 | 提取码: fcbb 链接 | Download | Hard |
| desk1-rpy-ic-person | 56.23 | 6.32 | 0.0464 | 16.4843 | 提取码: h48m 链接 | Download | Hard |
| desk1-static-ic-person | 33.87 | 3.74 | 0.0082 | 2.6343 | 提取码: 9vhm 链接 | Download | Hard |
| desk1-xyz-ic-person | 54.19 | 6.19 | 0.1550 | 11.9565 | 提取码: xp9u 链接 | Download | Hard |
| Sequence Name | Duration(s) | Size(GB) | Avg. Trans. Vel. [m/s] | Avg. Rot. Vel. [deg/s] | link(Baidu Pan) | link(Google Drive) | Difficulty |
|---|---|---|---|---|---|---|---|
| desk1-halfsphere-dim | 69.23 | 7.12 | 0.1348 | 12.6894 | 提取码: tcmr 链接 | Download | Medium |
| desk1-halfsphere-dim2 | 67.89 | 6.98 | 0.1346 | 11.7965 | 提取码: h36m 链接 | Download | Medium |
| desk1-rpy-dim | 48.01 | 4.92 | 0.0490 | 14.6452 | 提取码: cqs3 链接 | Download | Medium |
| desk1-rpy-dim2 | 52.57 | 5.39 | 0.0501 | 13.9791 | 提取码: 4sch 链接 | Download | Medium |
| desk1-static-dim | 21.53 | 2.18 | 0.0009 | 0.2913 | 提取码: vsgf 链接 | Download | Medium |
| desk1-static-dim2 | 19.42 | 1.97 | 0.0028 | 1.4049 | 提取码: yp49 链接 | Download | Medium |
| desk1-xyz-dim | 53.69 | 5.51 | 0.1463 | 7.5768 | 提取码: uqir 链接 | Download | Medium |
| desk1-xyz-dim2 | 53.81 | 5.52 | 0.1564 | 7.5196 | 提取码: djkd 链接 | Download | Medium |
| Sequence Name | Duration(s) | Size(GB) | link（Baidu Pan） | link(Google Drive) | Difficulty |
|---|---|---|---|---|---|
| magistrale-23-day1 | 200.594 | 28.70 | 提取码: wi6j 链接 | Download | Crazy |
| magistrale-23-day2 | 198.875 | 27.89 | 提取码: dbx3 链接 | Download | Crazy |
| magistrale-23-night1 | 191.626 | 24.71 | 提取码: hgf5 链接 | Download | Crazy |
| magistrale-23-night2 | 201.626 | 27.91 | 提取码: r16u 链接 | Download | Crazy |
| magistrale-24-night1 | 242.126 | 33.45 | 提取码: 4v3f 链接 | Download | Crazy |
| magistrale-24-night2 | 260.242 | 35.09 | 提取码: uq7k 链接 | Download | Crazy |
| magistrale-24-night3 | 257.468 | 35.54 | 提取码: p9wk 链接 | Download | Crazy |
| magistrale-lift-23-night | 110.532 | 15.64 | 提取码: 5muf 链接 | Download | Crazy |
| magistrale-lift-24-night | 166.502 | 23.35 | 提取码: ksqz 链接 | Download | Crazy |
| magistrale-lift-234-night | 212.062 | 29.42 | 提取码: uxut 链接 | Download | Crazy |
| outdoor-night1 | 453.84 | 60.05 | 提取码: jyej 链接 | Download | Crazy |
| outdoor-night2 | 458.11 | 61.25 | 提取码: s12u 链接 | Download | Crazy |