Data · dataset · 2024
Replication Data for: A comparison of deep learning-based visual odometry algorithms in challenging scenarios
Listed in Borealis
This is a dataset used in the experiments for the paper "A comparison of deep learning-based visual odometry algorithms in challenging scenarios." The experiments were conducted using data collected by a Quanser QCAR equipped with a Realsense D435 camera.
Description
We only provide the RGB information with a resolution of 1920x1080 pixels. The robot's ground-truth pose information was gathered through an external Vicon motion capture system.
There are three sequences, sequence 1 is very simple as it involves no curves. The robot traveled approximately 3.13 meters in 15.5 seconds (103 frames) in this sequence. Sequence 2 contains a curve and the robot traveled for a distance of 7.73 meters in 40 seconds (242 frames).
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Sequence 3 is the most challenging one as it includes three curves. In this sequence, the robot traveled for a distance of 17.40 meters, taking about 66.6 seconds to complete the path (408 frames). Additionally, for each sequence, there are 5 types of emulated failures: camera overexposure, camera underexposure, lens condensation, lens breakage, and lens dirt.
Links
Where it is published
- Dataverse dataset page borealisdata.ca/dataset.xhtml?persistentId=doi%3A10.5683%2FSP3%2FVIG3FC ↗
landing page · from borealisdata ca
- DOI doi.org/10.5683/sp3/vig3fc ↗
DOI / persistent id · from borealisdata ca
Catalogue records · 1
- Dataverse API borealisdata.ca/api/datasets/:persistentId/?persistentId=doi%3A10.5683%2FSP3%2… ↗
metadata API · from borealisdata ca
Topics
- Stated by source
- Computer and Information Science
- From keywords
- Computer Science & AI · Deep learning
Provenance · 1 source records, 9 field assertions
| Source | Key | Last seen | Raw |
|---|---|---|---|
| Borealis | doi:10.5683/SP3/VIG3FC | 12 d ago | JSON v1 |
| Field | Assertion | Extractor | Evidence |
|---|---|---|---|
| concepts[field].anzsrc:field:461103 | mapping · borealisdata ca | vocabulary-mapper@1.0.0 | keywords['Deep Learning'] |
| concepts[field].dataverse_subject:computer-and-information-science | source · borealisdata ca | connector:borealisdata_ca@1.0.0 | /subjects |
| concepts[field].local:field:computer-science-ai | mapping · borealisdata ca | connector:borealisdata_ca@1.0.0 | /subjects |
| created_date | source · borealisdata ca | connector:borealisdata_ca@1.0.0 | |
| description | source · borealisdata ca | connector:borealisdata_ca@1.0.0 | /description |
| publication_date | source · borealisdata ca | connector:borealisdata_ca@1.0.0 | |
| title | source · borealisdata ca | connector:borealisdata_ca@1.0.0 | /name |
| updated_date | source · borealisdata ca | connector:borealisdata_ca@1.0.0 | |
| version_label | source · borealisdata ca | connector:borealisdata_ca@1.0.0 |