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TUM School of Computation, Information and Technology
Technical University of Munich

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Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

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data:datasets:rolling-shutter-dataset [2019/03/10 11:18]
usenko
data:datasets:rolling-shutter-dataset [2022/01/11 12:20] (current)
schubdav
Line 1: Line 1:
-===== Rolling-Shutter Visual Odomerty Dataset =====+===== Rolling-Shutter Visual-Inertial Odometry Dataset ===== 
 + 
 + 
 +{{:data:datasets:rolling-shutter-dataset:gs.jpg?300|}} 
 +{{:data:datasets:rolling-shutter-dataset:rs.jpg?300|}}
  
 ** Contact **: [[:members:schubert|David Schubert]], [[:members:demmeln|Nikolaus Demmel]], [[:members:stumberg|Lukas von Stumberg]], [[:members:usenko|Vladyslav Usenko]]. ** Contact **: [[:members:schubert|David Schubert]], [[:members:demmeln|Nikolaus Demmel]], [[:members:stumberg|Lukas von Stumberg]], [[:members:usenko|Vladyslav Usenko]].
  
-We present a novel dataset that contains global-shutter and rolling-shutter images, IMU data and ground-truth poses for ten different sequences.+We present a novel dataset that contains time-synchronized global-shutter and rolling-shutter images, IMU data and ground-truth poses for ten different sequences. 
  
 +<bibtex>
 +<keywords>vidsors</keywords>
 +</bibtex>
  
  
Line 97: Line 105:
  
 ==== Calibration ==== ==== Calibration ====
-{{:data:datasets:rolling-shutter-dataset:rolling_setup.png?400|}}+{{:data:datasets:rolling-shutter-dataset:sensor_axes_rgb.jpg?400|}} 
 + 
 +The figure shows approximate sensor orientations in xyz-rgb convention. 
 + 
 +> **Note**: this is an updated figure compared to the schematic illustration in the paper, which might have been confusing. Also, in the calibrated dataset, the offset between IMU and Marker reference frame has already been taken care of: the ground truth poses are post-processed to track the IMU frame. 
 + 
 +For the calibrated sequences that are provided in the table the ground-truth poses are provided for the IMU coordinate frame and time-synchronized with image and IMU data. Geometric camera-IMU calibration can be found here: [[https://cdn3.vision.in.tum.de/rolling/calibration/camchain-calibration-equidistant4_camimu_dataset-calib-imu1.yaml | calibration.yaml]].  
 + 
 +Calibration was done using the following sequences. 
 + 
 +<html> 
 +<table> 
 +<tr><td>Sequence</td><td>Bag</td><td>Euroc/DSO</td></tr> 
 + 
 +<tr> 
 +<td>Camera calibration</td> 
 +<td> <a href="https://cdn3.vision.in.tum.de/rolling/calibrated/dataset-calib-cam1.bag" > dataset-calib-cam1.bag</a></td> 
 +<td> <a href="https://cdn3.vision.in.tum.de/rolling/exported/euroc/dataset-calib-cam1.tar" > dataset-calib-cam1.tar</a></td> 
 +</tr> 
 + 
 +<tr> 
 +<td>IMU calibration</td> 
 +<td> <a href="https://cdn3.vision.in.tum.de/rolling/calibrated/dataset-calib-imu1.bag" > dataset-calib-imu1.bag</a></td> 
 +<td> <a href="https://cdn3.vision.in.tum.de/rolling/exported/euroc/dataset-calib-imu1.tar" > dataset-calib-imu1.tar</a></td> 
 +</tr> 
 + 
 + 
 + 
 +</table> 
 +</html> 
 + 
 + 
 + 
 + 
 +Note that for the calibration sequences, both cameras were operating in global-shutter mode. This means the timestamps for the rolling-shutter images refer to the first row. In general, timestamps denote the middle of the exposure interval.
  
-For the calibrated sequences that are provided in the table the ground-truth poses are provided in the IMU coordinate frame and time-synchronized with image and IMU data. Geometric camera-IMU calibration can be found here: [[https://cdn3.vision.in.tum.de/rolling/calibration/camchain-calibration-equidistant4_camimu_dataset-calib-imu1.yaml | calibration.yaml]].+For more information about calibration, we refer to our [[data:datasets:visual-inertial-dataset|visual-inertial dataset]].
  
 +According to the camera manufacturer, the time difference of two consecutive rows due to rolling shutter can't be read directly, but is very well approximated by the step size of the exposure time. Like this, we obtain an approximate row time difference of 29.4737 microseconds.

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Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:

News

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

More