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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 |
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- | ===== Rolling-Shutter Visual | + | ===== Rolling-Shutter Visual-Inertial Odometry |
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** Contact **: [[: | ** Contact **: [[: | ||
- | 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 |
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==== Calibration ==== | ==== Calibration ==== | ||
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+ | The figure shows approximate sensor orientations in xyz-rgb convention. | ||
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+ | > **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. | ||
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+ | 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:// | ||
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+ | Calibration was done using the following sequences. | ||
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+ | 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 | + | For more information about calibration, we refer to our [[data:datasets: |
+ | According to the camera manufacturer, |