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dataset_list.yaml
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- file: car_forest_camera_calib_3
filetype: camera_calib
- file: car_forest_camera_calib_4
filetype: camera_calib
- file: car_forest_camera_calib_5
filetype: camera_calib
- file: car_forest_camera_calib_6
filetype: camera_calib
- file: car_forest_sand_1
filetype: data
camera_calib_reference: car_forest_camera_calib_5
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_forest_sand_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .5
notes: >
This is a driving sequence on an open space of the forest, where the car is driven
on a sand path and there is drift on the wheels.
The car returns to the original position.
See car_forest_sand_2 for a similar sequence.
- file: car_forest_sand_2
filetype: data
camera_calib_reference: car_forest_camera_calib_5
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_forest_sand_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: True
internimage_semantics: False
check_pose_return:
absolute_position_error: 2.0
notes: >
This is a driving sequence on an open space of the forest, where the car is driven
on a sand path and there is drift on the wheels.
The car returns to the original position.
See car_forest_sand_1 for a similar sequence.
- file: car_forest_tree_tunnel
filetype: data
camera_calib_reference: car_forest_camera_calib_5
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_forest_sand_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return: False
notes: >
This is a driving sequence in a narrow path in the forest, in a single
direction. The car does not return to the original position. The different levels of density of the
vegetation make it challenging for standard VIO techniques.
- file: car_forest_into_ponds_long
filetype: data
camera_calib_reference: car_forest_camera_calib_5
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_forest_sand_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return: False
notes: >
This is a driving sequence from an open road, into the forest, going through
ponds, to an open space in the forest. Illumination conditions are quite challenging
and the forest density is high. The car does not return into its original position.
See car_forest_into_ponds_short for a similar
sequence where the car returns to its original position.
- file: car_forest_into_ponds_short
filetype: data
camera_calib_reference: car_forest_camera_calib_5
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_forest_sand_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .5
notes: >
This is a driving sequence from an open road, into the forest, going through
ponds, to an open space in the forest. Illumination conditions are quite challenging
and the forest density is high. The car returns to its original position.
See car_forest_into_ponds_long for a longer sequence
where the car does not return into its original position.
- file: car_forest_camera_calib_1
filetype: camera_calib
- file: car_forest_camera_calib_2
filetype: camera_calib
- file: car_urban_day_camera_calib_3
filetype: camera_calib
- file: car_urban_day_camera_calib_4
filetype: camera_calib
- file: car_urban_day_camera_calib_5
filetype: camera_calib
- file: car_urban_day_camera_calib_1
filetype: camera_calib
- file: car_urban_day_camera_calib_2
filetype: camera_calib
- file: car_urban_day_city_hall
filetype: data
camera_calib_reference: car_urban_day_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .5
- file: car_urban_day_horse
filetype: data
camera_calib_reference: car_urban_day_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return: False
notes: >
A very short sequence of the car moving in Philadelphia's center city. This is
an excellent test sequence, because it is short, has multiple IMOs. There is even a horse!
- file: car_urban_day_penno_big_loop
filetype: data
camera_calib_reference: car_urban_day_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .5
notes: >
Long sequence of a car in a parking lot, without many IMOs.
- file: car_urban_day_penno_small_loop
filetype: data
camera_calib_reference: car_urban_day_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .5
- file: car_urban_day_rittenhouse
filetype: data
camera_calib_reference: car_urban_day_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: 3.0
- file: car_urban_day_ucity_big_loop
filetype: data
camera_calib_reference: car_urban_day_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: True
internimage_semantics: True
check_pose_return:
absolute_position_error: 11.0
- file: car_urban_day_ucity_small_loop
filetype: data
camera_calib_reference: car_urban_day_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .5
- file: car_urban_day_camera_calib_6
filetype: camera_calib
- file: car_urban_day_camera_calib_7
filetype: camera_calib
- file: car_urban_day_camera_calib_8
filetype: camera_calib
- file: car_urban_day_schuylkill_tunnel
filetype: data
camera_calib_reference: car_urban_day_camera_calib_8
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: True
internimage_semantics: True
check_pose_return: False
notes: >
A challenging and long sequence of a car driving in a highway,
into a tunnel.
- file: car_urban_night_camera_calib_1
filetype: camera_calib
- file: car_urban_night_city_hall
filetype: data
camera_calib_reference: car_urban_night_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .6
- file: car_urban_night_penno_big_loop
filetype: data
camera_calib_reference: car_urban_night_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .5
- file: car_urban_night_penno_small_loop
filetype: data
camera_calib_reference: car_urban_night_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .5
- file: car_urban_night_penno_small_loop_darker
filetype: data
camera_calib_reference: car_urban_night_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .5
- file: car_urban_night_rittenhouse
filetype: data
camera_calib_reference: car_urban_night_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .5
- file: car_urban_night_schuylkill_tunnel
filetype: data
camera_calib_reference: car_urban_night_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: True
internimage_semantics: False
check_pose_return: False
notes: >
A challenging and long sequence of a car driving in a highway,
into a tunnel.
- file: car_urban_night_ucity_big_loop
filetype: data
camera_calib_reference: car_urban_night_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: True
internimage_semantics: False
check_pose_return:
absolute_position_error: 9.0
- file: car_urban_night_ucity_small_loop
filetype: data
camera_calib_reference: car_urban_night_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: car_urban_day_city_hall_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .5
- file: falcon_forest_camera_calib_1
filetype: camera_calib
- file: falcon_forest_camera_calib_2
filetype: camera_calib
- file: falcon_forest_camera_calib_3
filetype: camera_calib
- file: falcon_forest_road_1
filetype: data
camera_calib_reference: falcon_forest_camera_calib_1
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
- file: falcon_forest_camera_calib_4
filetype: camera_calib
- file: falcon_forest_camera_calib_5
filetype: camera_calib
- file: falcon_forest_road_forest
filetype: data
camera_calib_reference: falcon_forest_camera_calib_4
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
- file: falcon_forest_up_down
filetype: data
camera_calib_reference: falcon_forest_camera_calib_4
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
- file: falcon_forest_camera_calib_6
filetype: camera_calib
- file: falcon_forest_camera_calib_7
filetype: camera_calib
- file: falcon_forest_camera_calib_8
filetype: camera_calib
- file: falcon_forest_into_forest_4
filetype: data
camera_calib_reference: falcon_forest_camera_calib_6
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
- file: falcon_forest_road_3
filetype: data
camera_calib_reference: falcon_forest_camera_calib_6
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: True
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
- file: falcon_forest_road_2
filetype: data
camera_calib_reference: falcon_forest_camera_calib_6
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .1
- file: falcon_forest_camera_calib_9
filetype: camera_calib
- file: falcon_forest_camera_calib_10
filetype: camera_calib
- file: falcon_forest_into_forest_1
filetype: data
camera_calib_reference: falcon_forest_camera_calib_6
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
notes: >
This is a sequence of the UAV flying in a low density forest. The UAV returns
to its takeoff position. Similar to falcon_forest_into_forest_2.
- file: falcon_forest_into_forest_2
filetype: data
camera_calib_reference: falcon_forest_camera_calib_6
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
notes: >
This is a sequence of the UAV flying in a low density forest. The UAV returns
to its takeoff position.
Similar to falcon_forest_into_forest_1.
- file: falcon_into_forest_3
filetype: data
camera_calib_reference: falcon_forest_camera_calib_6
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_forest_road_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: True
internimage_semantics: False
check_pose_return: False
notes: >
This is a short sequence with the UAV flying along the road in the forest.
The sequence is ended before the UAV landed due to technical issues, so the
UAV does not return to its original position.
- file: falcon_indoor_camera_calib
filetype: camera_calib
- file: falcon_indoor_flight_1
filetype: data
camera_calib_reference: falcon_indoor_camera_calib
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_indoor_flight_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 100
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .1
notes:
A short indoor sequence where the UAV flies in an area with multiple
obstacles. The UAV returns close to its original position.
See falcon_indoor_flight_2 and falcon_indoor_flight_3 for similar
sequences.
- file: falcon_indoor_flight_2
filetype: data
camera_calib_reference: falcon_outdoor_night_camera_calib_2
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_indoor_flight_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 100
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
notes:
A short indoor sequence where the UAV flies in an area with multiple
obstacles. The UAV returns close to its original position.
See falcon_indoor_flight_1 and falcon_indoor_flight_3 for similar
sequences.
- file: falcon_indoor_flight_3
filetype: data
camera_calib_reference: falcon_outdoor_night_camera_calib_2
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_indoor_flight_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 100
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .3
notes:
A short indoor sequence where the UAV flies in an area with multiple
obstacles. The UAV returns close to its original position.
See falcon_indoor_flight_1 and falcon_indoor_flight_2 for similar
sequences.
- file: falcon_outdoor_day_penno_parking_1
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_1
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_penno_parking_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .25
- file: falcon_outdoor_day_penno_parking_2
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_1
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_penno_parking_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: falcon_outdoor_day_penno_plaza
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_1
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_penno_parking_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: falcon_outdoor_day_camera_calib_1
filetype: camera_calib
- file: falcon_outdoor_day_penno_cars
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_1
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_penno_cars_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: falcon_outdoor_day_penno_parking_3
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_1
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_penno_cars_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: True
internimage_semantics: True
check_pose_return:
absolute_position_error: .25
- file: falcon_outdoor_day_penno_trees
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_1
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_penno_cars_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .5
- file: falcon_outdoor_day_camera_calib_2
filetype: camera_calib
- file: falcon_outdoor_day_camera_calib_3
filetype: camera_calib
- file: falcon_outdoor_day_fast_flight_1
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_2
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_fast_flight_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 50
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: falcon_outdoor_day_fast_flight_3
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_2
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_fast_flight_3_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 50
is_test_file: True
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: falcon_outdoor_day_fast_flight_2
filetype: data
camera_calib_reference: falcon_outdoor_day_camera_calib_2
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_outdoor_day_fast_flight_2_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 50
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: falcon_outdoor_night_camera_calib_1
filetype: camera_calib
- file: falcon_outdoor_night_camera_calib_2
filetype: camera_calib
- file: falcon_outdoor_night_penno_parking_1
filetype: data
camera_calib_reference: falcon_outdoor_night_camera_calib_2
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_indoor_flight_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 50
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .1
- file: falcon_outdoor_night_penno_parking_2
filetype: data
camera_calib_reference: falcon_outdoor_night_camera_calib_2
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_indoor_flight_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 50
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
- file: falcon_outdoor_night_high_beams
filetype: data
camera_calib_reference: falcon_outdoor_night_camera_calib_2
imu_calib_reference: falcon_imu_calib_1
lidar_calib_reference: falcon_indoor_flight_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .1
notes: >
This is a short sequence where the UAV flies in a parking lot, in front
of a car with the high beams enabled. This sequence showcases the advantages
of event cameras compared to traditional imagers.
- file: spot_forest_camera_calib_1
filetype: camera_calib
- file: spot_forest_camera_calib_2
filetype: camera_calib
- file: spot_forest_camera_calib_3
filetype: camera_calib
- file: spot_forest_easy_1
filetype: data
camera_calib_reference: spot_forest_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_forest_easy_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .6
notes: >
An easy sequence of spot walking in the forest between the trees.
- file: spot_forest_easy_2
filetype: data
camera_calib_reference: spot_forest_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_forest_easy_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .2
- file: spot_forest_hard
filetype: data
camera_calib_reference: spot_forest_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_forest_easy_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .6
- file: spot_forest_road_1
filetype: data
camera_calib_reference: spot_forest_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_forest_easy_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: 1.1
notes: >
This is an easy sequence of spot in the forest, walking on a dirt road.
The robot returns to its original position. Similar to spot_forest_road_2 and
spot_forest_road_3.
- file: spot_forest_road_2
filetype: data
camera_calib_reference: spot_forest_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_forest_easy_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: True
internimage_semantics: False
check_pose_return:
absolute_position_error: 1.4
notes: >
This is an easy sequence of spot in the forest, walking on a dirt road.
The robot returns close to its original position but not exactly
on the same spot (1.5m), so this sequence is not recommended
for VIO or loop closure. Similar to spoot_forest_road_1 and spot_forest_road_3.
- file: spot_forest_road_3
filetype: data
camera_calib_reference: spot_forest_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_forest_easy_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .75
notes: >
This is an easy sequence of spot in the forest, walking on a dirt road.
The robot returns to its original position. Similar to spot_forest_road_1 and
spot_forest_road_2.
- file: spot_indoor_camera_calib
filetype: camera_calib
- file: spot_indoor_building_loop
filetype: data
camera_calib_reference: spot_indoor_camera_calib
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_indoor_stairs_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .1
- file: spot_indoor_obstacles
filetype: data
camera_calib_reference: spot_indoor_camera_calib
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_indoor_stairs_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .1
- file: spot_indoor_stairs
filetype: data
camera_calib_reference: spot_indoor_camera_calib
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_indoor_stairs_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: False
check_pose_return:
absolute_position_error: .4
- file: spot_indoor_stairwell
filetype: data
camera_calib_reference: spot_indoor_camera_calib
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_indoor_stairs_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: False
check_pose_return: False
notes: >
This is a complex sequence where spot is driven inside a stairwell, very
close to the walls. This pose cannot get verified, as spot does not
return to the starting pose. This sequence is very challenging for VIO
systems, as there are not many features on the stairwell steps.
- file: spot_outdoor_day_camera_calib_1
filetype: camera_calib
- file: spot_outdoor_day_camera_calib_2
filetype: camera_calib
- file: spot_outdoor_day_camera_calib_3
filetype: camera_calib
- file: spot_outdoor_day_art_plaza_loop
filetype: data
camera_calib_reference: spot_outdoor_day_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: spot_outdoor_day_srt_green_loop
filetype: data
camera_calib_reference: spot_outdoor_day_camera_calib_1
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 40
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: 1.2
notes: >
This is a short easy sequence of spot walking on a paved road and grass.
The robot returns to a position close to the starting point
but not exactly the same (1.2 m), so this sequence is not recommended
for VIO or loop closure.
- file: spot_outdoor_day_skatepark_1
filetype: data
camera_calib_reference: spot_outdoor_day_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: spot_outdoor_day_skatepark_2
filetype: data
camera_calib_reference: spot_outdoor_day_camera_calib_3
imu_calib_reference: tower_imu_calib_1
faster_lio_config: short_range_ouster64
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: spot_outdoor_day_skatepark_3
filetype: data
camera_calib_reference: spot_outdoor_day_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 4
is_test_file: True
internimage_semantics: True
check_pose_return:
absolute_position_error: .25
- file: spot_outdoor_day_rocky_steps
filetype: data
camera_calib_reference: spot_outdoor_day_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return: False
- file: spot_outdoor_day_srt_under_bridge_1
filetype: data
camera_calib_reference: spot_outdoor_day_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: spot_outdoor_day_srt_under_bridge_2
filetype: data
camera_calib_reference: spot_outdoor_day_camera_calib_3
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: short_range_ouster64
depth_scan_aggregation: 4
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: spot_outdoor_day_penno_building_loop
filetype: data
camera_calib_reference: spot_indoor_camera_calib
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: True
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: spot_outdoor_day_penno_short_loop
filetype: data
camera_calib_reference: spot_indoor_camera_calib
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 400
is_test_file: False
internimage_semantics: True
check_pose_return:
absolute_position_error: .1
- file: spot_outdoor_night_camera_calib_2
filetype: camera_calib
- file: spot_outdoor_night_camera_calib_1
filetype: camera_calib
- file: spot_outdoor_night_penno_building_loop
filetype: data
camera_calib_reference: spot_outdoor_night_camera_calib_2
imu_calib_reference: tower_imu_calib_1
lidar_calib_reference: spot_outdoor_day_skatepark_1_T_c_l.npz
faster_lio_config: long_range_ouster64
depth_scan_aggregation: 40
is_test_file: True
internimage_semantics: False
check_pose_return:
absolute_position_error: .1
- file: spot_outdoor_night_penno_plaza_lights