A large-scale dataset for indoor visual localization with high-precision ground truth

IF 7.5 1区计算机科学 Q1 ROBOTICS

International Journal of Robotics Research Pub Date : 2021-10-26 DOI:10.1177/02783649211052064

Yuchen Liu, Wei Gao, Zhanyi Hu

引用次数: 4

Abstract

This article presents a challenging new dataset for indoor localization research. We have recorded the whole internal structure of Fengtai Wanda Plaza which is an area of over 15,800 m2 with a Navvis M6 device. The dataset contains 679 RGB-D panoramas and 2,664 query images collected by three different smartphones. In addition to the data, an aligned 3D point cloud is produced after the elimination of moving objects based on the building floorplan. Furthermore, a method is provided to generate corresponding high-resolution depth images for each panorama. By fixing the smartphones on the device using a specially designed bracket, six-degree-of-freedom camera poses can be calculated precisely. We believe it can give a new benchmark for indoor visual localization and the full dataset can be downloaded from http://vision.ia.ac.cn/Faculty/wgao/data_code/data_indoor_localizaiton/data_indoor_localization.htm

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基于高精度地面真值的大规模室内视觉定位数据集

本文为室内定位研究提供了一个具有挑战性的新数据集。我们记录了丰台万达广场的整个内部结构，面积超过15800平方米，配有Navvis M6装置。该数据集包含三款不同智能手机收集的679幅RGB-D全景图和2664幅查询图像。除数据外，在基于建筑平面布置图消除移动对象后，还会生成对齐的三维点云。此外，提供了一种为每个全景生成相应的高分辨率深度图像的方法。通过使用专门设计的支架将智能手机固定在设备上，可以精确计算六自由度相机姿势。我们相信它可以为室内视觉定位提供一个新的基准，完整的数据集可以从http://vision.ia.ac.cn/Faculty/wgao/data_code/data_indoor_localizaiton/data_indoor_localization.htm

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Robotics Research 工程技术-机器人学

CiteScore

22.20

自引率

0.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The International Journal of Robotics Research (IJRR) has been a leading peer-reviewed publication in the field for over two decades. It holds the distinction of being the first scholarly journal dedicated to robotics research. IJRR presents cutting-edge and thought-provoking original research papers, articles, and reviews that delve into groundbreaking trends, technical advancements, and theoretical developments in robotics. Renowned scholars and practitioners contribute to its content, offering their expertise and insights. This journal covers a wide range of topics, going beyond narrow technical advancements to encompass various aspects of robotics. The primary aim of IJRR is to publish work that has lasting value for the scientific and technological advancement of the field. Only original, robust, and practical research that can serve as a foundation for further progress is considered for publication. The focus is on producing content that will remain valuable and relevant over time. In summary, IJRR stands as a prestigious publication that drives innovation and knowledge in robotics research.