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data:datasets:rolling-shutter-dataset [2019/03/10 11:37]
Vladyslav Usenko
data:datasets:rolling-shutter-dataset [2019/11/04 17:24] (current)
David Schubert
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-===== Rolling-Shutter Visual-Inertial ​Odomerty ​Dataset =====+===== Rolling-Shutter Visual-Inertial ​Odometry ​Dataset =====
  
  
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 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. 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>​
  
  
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 {{:​data:​datasets:​rolling-shutter-dataset:​rolling_setup.png?​400|}} {{:​data:​datasets:​rolling-shutter-dataset:​rolling_setup.png?​400|}}
  
-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 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]]. 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 more information about calibration,​ we refer to our [[data:​datasets:​visual-inertial-dataset|visual-inertial dataset]].
  
 +According to the manufacturer,​ the time difference of two consecutive rows due to rolling shutter is approximately 29.4737 microseconds.

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