Datasets
Standard Dataset
Dynamic Scenes Dataset
- Citation Author(s):
-
HaoshengChen
Xiamen University - Submitted by:
- HaoSheng Chen
- Last updated:
- Tue, 05/17/2022 - 22:17
- DOI:
- 10.21227/wbh6-1k55
- Data Format:
- Research Article Link:
- Links:
- License:
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Abstract
The "Dynamic Scenes" Dataset is provided for testing visual loop closure detection algorithms in highly dynamic scenes. It has a strong background in some crucial applications such as autonomous driving systems.
The dataset was captured in the central commercial district of a city of ten million people. The “Dynamic Scenes” dataset contains two sequences as shown in the figure above. The first one, which was acquired by traveling around a lake as the blue trajectory, named “Road Ring.” The other sequence, named “CBD,” was acquired by traveling around a business district, and is depicted by the red and green trajectories.
The entire dataset was recorded by a ZED stereo camera at 1280 × 460 resolution @ 60fps.
The loop closure ground truth is formatted as two similarity matrices in the MAT files.
Note that the "Dynamic Scenes" dataset also can be used for testing localization or image retrieval algorithms as well.
Dataset Files
- Road Ring Sequence RoadRing.zip (7.38 GB)
- CBD Sequence CBD.zip (6.93 GB)
Comments
Hi~I'm investigating the pose estimation and 3d object reconstruction in deformable or dynamic scenes, I really need this dataset, please send me the dataset to my email: ludawei.bit@gmail.com