Datasets:
ArXiv:
License:
| { | |
| "note": "Per-side camera and IMU calibration used for this dataset.", | |
| "sides": { | |
| "left": { | |
| "capture": "left_ego", | |
| "camera_type": "fisheye_camera", | |
| "ego_video": { | |
| "source": "fisheye.mp4", | |
| "source_stream": 0, | |
| "lens": "front", | |
| "native_size": [ | |
| 1920, | |
| 1920 | |
| ], | |
| "dataset_size": [ | |
| 960, | |
| 960 | |
| ] | |
| }, | |
| "rolling_shutter_ms": 15.845431327819824, | |
| "imu": { | |
| "gyro_range_dps": 2000.0, | |
| "accel_range_g": 32.0, | |
| "gyro_bias_rad_s": [ | |
| -0.004483527228334604, | |
| -0.0028774288617300745, | |
| 0.0006799776922409066 | |
| ], | |
| "accel_bias_m_s2": [ | |
| -0.11006082375269524, | |
| 0.021046561304339538, | |
| 0.03742919176153447 | |
| ], | |
| "gravity_vector_camera_frame": [ | |
| -0.035079003216543, | |
| -0.5087296887769387, | |
| -0.860211350361208 | |
| ], | |
| "gravity_magnitude_m_s2": 9.81474726535907, | |
| "accel_convention": "Camera IMU reports +g_body (not specific force); negate before IMU preintegration." | |
| }, | |
| "lenses": { | |
| "front": { | |
| "model": "ucm_mei_radtan", | |
| "canvas": [ | |
| 15360, | |
| 7680 | |
| ], | |
| "params_on_canvas": { | |
| "xi": 2.31494, | |
| "fx": 7102.17, | |
| "fy": 7103.75, | |
| "cx": 3833.32, | |
| "cy": 3853.6, | |
| "k1": 0.95656186, | |
| "k2": -1.93103337, | |
| "k3": 3.92013597, | |
| "p1": 0.00132903, | |
| "p2": 0.00011066 | |
| }, | |
| "params_on_native_fisheye": { | |
| "xi": 2.31494, | |
| "k1": 0.956562, | |
| "k2": -1.931033, | |
| "k3": 3.920136, | |
| "p1": 0.001329, | |
| "p2": 0.000111, | |
| "fx": 1775.5425, | |
| "fy": 1775.9375, | |
| "cx": 958.33, | |
| "cy": 963.4 | |
| }, | |
| "cam_imu_factory": { | |
| "yaw_deg": 0.187, | |
| "pitch_deg": -0.169, | |
| "roll_deg": 90.589, | |
| "t_m": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "params_on_dataset_frame": { | |
| "xi": 2.31494, | |
| "k1": 0.956562, | |
| "k2": -1.931033, | |
| "k3": 3.920136, | |
| "p1": 0.001329, | |
| "p2": 0.000111, | |
| "fx": 887.77125, | |
| "fy": 887.96875, | |
| "cx": 479.165, | |
| "cy": 481.7 | |
| } | |
| }, | |
| "rear": { | |
| "model": "ucm_mei_radtan", | |
| "canvas": [ | |
| 15360, | |
| 7680 | |
| ], | |
| "params_on_canvas": { | |
| "xi": 2.31494, | |
| "fx": 7118.97, | |
| "fy": 7117.51, | |
| "cx": 11536.9, | |
| "cy": 3884.79, | |
| "k1": 0.97289771, | |
| "k2": -2.02398896, | |
| "k3": 4.12707472, | |
| "p1": -0.00030181, | |
| "p2": 0.00043862 | |
| }, | |
| "params_on_native_fisheye": { | |
| "xi": 2.31494, | |
| "k1": 0.972898, | |
| "k2": -2.023989, | |
| "k3": 4.127075, | |
| "p1": -0.000302, | |
| "p2": 0.000439, | |
| "fx": 1779.7425, | |
| "fy": 1779.3775, | |
| "cx": 964.225, | |
| "cy": 971.1975 | |
| }, | |
| "cam_imu_factory": { | |
| "yaw_deg": -0.307, | |
| "pitch_deg": -0.435, | |
| "roll_deg": 89.028, | |
| "t_m": [ | |
| -0.000754, | |
| 0.000204, | |
| -0.033261 | |
| ] | |
| } | |
| } | |
| }, | |
| "cam_imu_extrinsics": { | |
| "R_cam_imu": [ | |
| [ | |
| 0.0029496021588553776, | |
| 0.003263745709233859, | |
| 0.9999903238587109 | |
| ], | |
| [ | |
| 0.9999428115193246, | |
| -0.010289379766978357, | |
| -0.0029158797709888085 | |
| ], | |
| [ | |
| 0.010279763515394669, | |
| 0.9999417366166671, | |
| -0.0032939086373493997 | |
| ] | |
| ], | |
| "t_cam_imu_m": [ | |
| 0.004100510626148365, | |
| -0.001160295357225906, | |
| -0.025483155366164204 | |
| ], | |
| "source": "Factory camera-IMU extrinsics; gravity=static; bias=factory." | |
| }, | |
| "provenance": { | |
| "camera_intrinsics": "Factory per-camera telemetry", | |
| "kalibr_refined": false, | |
| "pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px", | |
| "pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When a body has no Kalibr-refined camera-IMU calibration the lookup table is borrowed from another body of the same model (see provenance.kalibr_refined)." | |
| } | |
| }, | |
| "right": { | |
| "capture": "right_ego", | |
| "camera_type": "fisheye_camera", | |
| "ego_video": { | |
| "source": "fisheye.mp4", | |
| "source_stream": 0, | |
| "lens": "front", | |
| "native_size": [ | |
| 1920, | |
| 1920 | |
| ], | |
| "dataset_size": [ | |
| 960, | |
| 960 | |
| ] | |
| }, | |
| "rolling_shutter_ms": 15.845431327819824, | |
| "imu": { | |
| "gyro_range_dps": 2000.0, | |
| "accel_range_g": 32.0, | |
| "gyro_bias_rad_s": [ | |
| -0.00524950087726284, | |
| -0.008361999736439793, | |
| -0.00041422858487046504 | |
| ], | |
| "accel_bias_m_s2": [ | |
| -0.027753406238532435, | |
| -0.0017735484211631835, | |
| 0.019512034407272495 | |
| ], | |
| "gravity_vector_camera_frame": [ | |
| 0.028436234075154044, | |
| -0.5007493317126056, | |
| -0.8651251281641301 | |
| ], | |
| "gravity_magnitude_m_s2": 9.797172699703548, | |
| "accel_convention": "Camera IMU reports +g_body (not specific force); negate before IMU preintegration." | |
| }, | |
| "lenses": { | |
| "front": { | |
| "model": "ucm_mei_radtan", | |
| "canvas": [ | |
| 15360, | |
| 7680 | |
| ], | |
| "params_on_canvas": { | |
| "xi": 2.31494, | |
| "fx": 7074.79, | |
| "fy": 7076.38, | |
| "cx": 3845.71, | |
| "cy": 3853.5, | |
| "k1": 0.97950083, | |
| "k2": -2.20074248, | |
| "k3": 4.6162281, | |
| "p1": -0.00097834, | |
| "p2": -0.00057229 | |
| }, | |
| "params_on_native_fisheye": { | |
| "xi": 2.31494, | |
| "k1": 0.979501, | |
| "k2": -2.200742, | |
| "k3": 4.616228, | |
| "p1": -0.000978, | |
| "p2": -0.000572, | |
| "fx": 1768.6975, | |
| "fy": 1769.095, | |
| "cx": 961.4275, | |
| "cy": 963.375 | |
| }, | |
| "cam_imu_factory": { | |
| "yaw_deg": -0.007, | |
| "pitch_deg": 0.104, | |
| "roll_deg": 90.389, | |
| "t_m": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "params_on_dataset_frame": { | |
| "xi": 2.31494, | |
| "k1": 0.979501, | |
| "k2": -2.200742, | |
| "k3": 4.616228, | |
| "p1": -0.000978, | |
| "p2": -0.000572, | |
| "fx": 884.34875, | |
| "fy": 884.5475, | |
| "cx": 480.71375, | |
| "cy": 481.6875 | |
| } | |
| }, | |
| "rear": { | |
| "model": "ucm_mei_radtan", | |
| "canvas": [ | |
| 15360, | |
| 7680 | |
| ], | |
| "params_on_canvas": { | |
| "xi": 2.31494, | |
| "fx": 7118.99, | |
| "fy": 7114.14, | |
| "cx": 11518.6, | |
| "cy": 3875.18, | |
| "k1": 0.96309751, | |
| "k2": -1.94366455, | |
| "k3": 3.80615282, | |
| "p1": -0.0001182, | |
| "p2": -0.00131586 | |
| }, | |
| "params_on_native_fisheye": { | |
| "xi": 2.31494, | |
| "k1": 0.963098, | |
| "k2": -1.943665, | |
| "k3": 3.806153, | |
| "p1": -0.000118, | |
| "p2": -0.001316, | |
| "fx": 1779.7475, | |
| "fy": 1778.535, | |
| "cx": 959.65, | |
| "cy": 968.795 | |
| }, | |
| "cam_imu_factory": { | |
| "yaw_deg": -0.22, | |
| "pitch_deg": 0.294, | |
| "roll_deg": 88.898, | |
| "t_m": [ | |
| 0.001239, | |
| -0.000204, | |
| -0.032099 | |
| ] | |
| } | |
| } | |
| }, | |
| "cam_imu_extrinsics": { | |
| "R_cam_imu": [ | |
| [ | |
| -0.0018151414253366012, | |
| -0.00012217284607139126, | |
| 0.9999983451663319 | |
| ], | |
| [ | |
| 0.9999753052496554, | |
| -0.006789500336909227, | |
| 0.0018142701106079614 | |
| ], | |
| [ | |
| 0.006789267446872416, | |
| 0.9999769436136872, | |
| 0.0001344937323623193 | |
| ] | |
| ], | |
| "t_cam_imu_m": [ | |
| 0.004100510626148365, | |
| -0.001160295357225906, | |
| -0.025483155366164204 | |
| ], | |
| "source": "Factory camera-IMU extrinsics; gravity=static; bias=factory." | |
| }, | |
| "provenance": { | |
| "camera_intrinsics": "Factory per-camera telemetry", | |
| "kalibr_refined": false, | |
| "pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px", | |
| "pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When a body has no Kalibr-refined camera-IMU calibration the lookup table is borrowed from another body of the same model (see provenance.kalibr_refined)." | |
| } | |
| } | |
| } | |
| } | |