Update README.md
Browse files
README.md
CHANGED
|
@@ -1,3 +1,46 @@
|
|
| 1 |
---
|
| 2 |
license: mit
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3 |
---
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
---
|
| 2 |
license: mit
|
| 3 |
+
tags:
|
| 4 |
+
- event-camera
|
| 5 |
+
- localization
|
| 6 |
+
- visual-place-recognition
|
| 7 |
+
- robotics
|
| 8 |
---
|
| 9 |
+
|
| 10 |
+
## Gardens Point Event Dataset for viewpoint variant localization
|
| 11 |
+
|
| 12 |
+
This repository contains the datasets for the Gardens Point Event Dataset, consisting of two walking traverses of the same route with a severe left and right viewpoint shift.
|
| 13 |
+
|
| 14 |
+
The dataset was captured with an iniVation DAVIS346 event camera mounted to a handheld gimble with an iPhone 16 recording RGB frames and providing GPS ground truth positioning.
|
| 15 |
+
|
| 16 |
+
## Dataset structure
|
| 17 |
+
|
| 18 |
+
The dataset has the following structure:
|
| 19 |
+
|
| 20 |
+
```text
|
| 21 |
+
Gardens-Point-Event/
|
| 22 |
+
├── left/
|
| 23 |
+
| ├── derived/
|
| 24 |
+
| | ├── gps_interp.csv
|
| 25 |
+
| | ├── sync.json
|
| 26 |
+
| ├── camera_sync.csv
|
| 27 |
+
| ├── frames.zip
|
| 28 |
+
| ├── phone.jsonl
|
| 29 |
+
| ├── left.hdf5
|
| 30 |
+
| ├── session.json
|
| 31 |
+
|
|
| 32 |
+
├── right/
|
| 33 |
+
| ├── derived/
|
| 34 |
+
| | ├── gps_interp.csv
|
| 35 |
+
| | ├── sync.json
|
| 36 |
+
| ├── camera_sync.csv
|
| 37 |
+
| ├── frames.zip
|
| 38 |
+
| ├── phone.jsonl
|
| 39 |
+
| ├── right.hdf5
|
| 40 |
+
| ├── session.json
|
| 41 |
+
```
|
| 42 |
+
|
| 43 |
+
The `.hdf5` files contain the raw event stream from the DAVIS346, where the `derived/gps_interp.csv` contains the interpolated ground truth from the camera sync. `frames.zip`
|
| 44 |
+
contains RGB .jpg images from the iPhone camera taken at 1Hz, which can be used for further alignment.
|
| 45 |
+
|
| 46 |
+
`session.json` contains metadata about the recordings.
|