These datasets are intended for object detection and matching. They contain various objects in a scene, of which some are identical and can be used to match these objects among each other and complete a scene as shown in the image above. Red indicates unobserved parts in this dataset but completed from other instances, either from the same or other datasets.
The paper accompanying these data sets was accepted to IROS 2018 and is also published on arxiv pdf.
The datasets consists of raw sensor data recorded with a Google Tango Lenovo Phab 2 Pro combined with optimized and loop closed poses generated by the Google Tango mapping framework.
The bag information is as follows:
path: three_chairs_teaser_20180301_040531.bag version: 2.0 duration: 2:12s (132s) start: Jan 09 1970 11:11:21.28 (727881.28) end: Jan 09 1970 11:13:33.98 (728013.98) size: 4.9 GB messages: 103230 compression: none [1999/1999 chunks] types: geometry_msgs/TransformStamped [b5764a33bfeb3588febc2682852579b0] sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec] topics: /camera/depth/camera_info 646 msgs : sensor_msgs/CameraInfo /camera/depth/image_raw 646 msgs : sensor_msgs/Image /camera/fisheye/camera_info 3834 msgs : sensor_msgs/CameraInfo /camera/fisheye/image_raw 3834 msgs : sensor_msgs/Image /camera/rgb/camera_info 646 msgs : sensor_msgs/CameraInfo /camera/rgb/image_raw 646 msgs : sensor_msgs/Image /imu0 26743 msgs : sensor_msgs/Imu /tango/T_I_C_color 13247 msgs : geometry_msgs/TransformStamped /tango/T_I_C_depth 13247 msgs : geometry_msgs/TransformStamped /tango/T_I_C_fisheye 13247 msgs : geometry_msgs/TransformStamped /tango_viwls/T_G_I 13247 msgs : geometry_msgs/TransformStamped /tf 13247 msgs : tf2_msgs/TFMessage
asl_cow_20180224_161851.bag – 10 GB
asl_cow_20180224_162434.bag – 11 GB
asl_cow_20180224_163303.bag – 16 GB