Dataset for "Parameter Reduction and Optimisation for Point Cloud and Occupancy Mapping Algorithms"

594 123 14957 2 47026 document 14957 VoronoiBuildingBoxI.svo application/octet-stream 992eed04d0f40a2ada02cd6fd021e615 MD5 3322961013 2021-05-19 23:10:58 https://researchdata.bath.ac.uk/594/1/VoronoiBuildingBoxI.svo 594 1 1 application/octet-stream other en public cc_by

VoronoiBuildingBoxI.svo

data 14958 2 47028 document 14958 VoronoiBuildingBoxO.svo application/octet-stream df73734c28e015caa28001d2386f37fb MD5 3190228655 2021-05-19 23:13:38 https://researchdata.bath.ac.uk/594/2/VoronoiBuildingBoxO.svo 594 2 2 application/octet-stream other en public cc_by

VoronoiBuildingBoxO.svo

data 14959 2 47030 document 14959 VoronoiBuildingBoxT.svo application/octet-stream 12ef114d4162f88c4d294e01bbbfe939 MD5 3324478665 2021-05-19 23:17:21 https://researchdata.bath.ac.uk/594/3/VoronoiBuildingBoxT.svo 594 3 3 application/octet-stream other en public cc_by

VoronoiBuildingBoxT.svo

data 14960 3 47032 document 14960 VoronoiBuildingBoxS.svo application/octet-stream 557149b62c9876725598c7520784b77c MD5 2816572477 2021-05-19 23:17:51 https://researchdata.bath.ac.uk/594/4/VoronoiBuildingBoxS.svo 594 4 5 application/octet-stream other en public cc_by

VoronoiBuildingBoxS.svo

data 14961 3 47033 document 14961 VoronoiBuildingBoxL.svo application/octet-stream 5f03b627d687b0051c233dbc30ea923e MD5 3081458176 2021-05-19 23:17:52 https://researchdata.bath.ac.uk/594/5/VoronoiBuildingBoxL.svo 594 5 4 application/octet-stream other en public cc_by

VoronoiBuildingBoxL.svo

data 14962 2 47037 document 14962 PlainBuildingBoxI.svo application/octet-stream 6d146770cbc9a4aff104c776e320ef4f MD5 2651674217 2021-05-19 23:20:21 https://researchdata.bath.ac.uk/594/6/PlainBuildingBoxI.svo 594 6 6 application/octet-stream other en public cc_by

PlainBuildingBoxI.svo

data 14963 2 47039 document 14963 PlainBuildingBoxO.svo application/octet-stream ec14bdf1f26a3dc253a5fbc2e8cf42d7 MD5 2754746224 2021-05-19 23:21:51 https://researchdata.bath.ac.uk/594/7/PlainBuildingBoxO.svo 594 7 7 application/octet-stream other en public cc_by

PlainBuildingBoxO.svo

data 14964 2 47041 document 14964 PlainBuildingBoxT.svo application/octet-stream 21d635bc839c3458d60496dab7170f5a MD5 2687250432 2021-05-19 23:22:31 https://researchdata.bath.ac.uk/594/8/PlainBuildingBoxT.svo 594 8 8 application/octet-stream other en public cc_by

PlainBuildingBoxT.svo

data 14965 2 47042 document 14965 PlainBuildingBoxL.svo application/octet-stream b9b3a3e8d70c78b460a9525e3248584c MD5 2325129343 2021-05-19 23:22:53 https://researchdata.bath.ac.uk/594/9/PlainBuildingBoxL.svo 594 9 9 application/octet-stream other en public cc_by

PlainBuildingBoxL.svo

data 14966 2 47045 document 14966 PlainBuildingBoxS.svo application/octet-stream 5ee14da6de0676d350e725403d1ad365 MD5 2571638869 2021-05-19 23:23:32 https://researchdata.bath.ac.uk/594/10/PlainBuildingBoxS.svo 594 10 10 application/octet-stream other en public cc_by

PlainBuildingBoxS.svo

data 14967 2 47046 document 14967 VoronoiParkingLotBoxI.svo application/octet-stream 9d314d86573afe449ed62e0f47ef92b5 MD5 2701874971 2021-05-19 23:23:48 https://researchdata.bath.ac.uk/594/11/VoronoiParkingLotBoxI.svo 594 11 11 application/octet-stream other en public cc_by

VoronoiParkingLotBoxI.svo

data 14968 2 47049 document 14968 VoronoiParkingLotBoxO.svo application/octet-stream 94b38883bd477a81bedf85bfc9335db6 MD5 2343495408 2021-05-19 23:25:08 https://researchdata.bath.ac.uk/594/12/VoronoiParkingLotBoxO.svo 594 12 12 application/octet-stream other en public cc_by

VoronoiParkingLotBoxO.svo

data 14969 2 47051 document 14969 VoronoiParkingLotBoxT.svo application/octet-stream 1eb2d40822473c536ea99a43279f346f MD5 2520491638 2021-05-19 23:26:10 https://researchdata.bath.ac.uk/594/13/VoronoiParkingLotBoxT.svo 594 13 13 application/octet-stream other en public cc_by

VoronoiParkingLotBoxT.svo

data 14970 2 47053 document 14970 VoronoiParkingLotBoxL.svo application/octet-stream a51555d16c3400a1d9046788fab970ac MD5 2354170369 2021-05-19 23:26:32 https://researchdata.bath.ac.uk/594/14/VoronoiParkingLotBoxL.svo 594 14 14 application/octet-stream other en public cc_by

VoronoiParkingLotBoxL.svo

data 14971 2 47054 document 14971 VoronoiParkingLotBoxS.svo application/octet-stream d278d35d50068f0a3dd2af9860ca7c5c MD5 2568756798 2021-05-19 23:26:44 https://researchdata.bath.ac.uk/594/15/VoronoiParkingLotBoxS.svo 594 15 15 application/octet-stream other en public cc_by

VoronoiParkingLotBoxS.svo

data 14972 2 47057 document 14972 PlainParkingLotBoxI.svo application/octet-stream 9e67d15fa83591603f0ab1ec213c1b0e MD5 1931140536 2021-05-19 23:27:25 https://researchdata.bath.ac.uk/594/16/PlainParkingLotBoxI.svo 594 16 16 application/octet-stream other en public cc_by

PlainParkingLotBoxI.svo

data 14973 2 47059 document 14973 PlainParkingLotBoxO.svo application/octet-stream eddf0ded3f1bd2cbdcd0bd73e38d74af MD5 2061372232 2021-05-19 23:28:10 https://researchdata.bath.ac.uk/594/17/PlainParkingLotBoxO.svo 594 17 17 application/octet-stream other en public cc_by

PlainParkingLotBoxO.svo

data 14974 2 47061 document 14974 PlainParkingLotBoxT.svo application/octet-stream 4d924ff23609bdf43217ce08e83bda29 MD5 1886681617 2021-05-19 23:28:53 https://researchdata.bath.ac.uk/594/18/PlainParkingLotBoxT.svo 594 18 18 application/octet-stream other en public cc_by

PlainParkingLotBoxT.svo

data 14975 2 47062 document 14975 PlainParkingLotBoxL.svo application/octet-stream 72920a651ccd24ff5fdbb9cd11fdaff2 MD5 1727754147 2021-05-19 23:29:05 https://researchdata.bath.ac.uk/594/19/PlainParkingLotBoxL.svo 594 19 19 application/octet-stream other en public cc_by

PlainParkingLotBoxL.svo

data 14976 2 47064 document 14976 PlainParkingLotBoxS.svo application/octet-stream 69dcff8124ce9ae762ed8e8eebe7ca66 MD5 1933059779 2021-05-19 23:29:15 https://researchdata.bath.ac.uk/594/20/PlainParkingLotBoxS.svo 594 20 20 application/octet-stream other en public cc_by

PlainParkingLotBoxS.svo

data 14978 2 47075 document 14978 GroundTruth.zip application/zip 2b8e5cdcb14ba0edfb26477ae4517d5e MD5 421665 2021-05-20 00:14:39 https://researchdata.bath.ac.uk/594/22/GroundTruth.zip 594 22 22 application/zip other en public cc_by

GroundTruth.zip

data 14985 2 47185 document 14985 CameraTrajectories.zip application/zip 6fae8c29bca15ef7bcc937c80a138b43 MD5 1744514 2021-05-26 17:56:15 https://researchdata.bath.ac.uk/594/23/CameraTrajectories.zip 594 23 23 application/zip other en public cc_by

CameraTrajectories.zip

data 14986 2 47187 document 14986 KeyframePoses.zip application/zip 0ca7a0c5fa338899ad923bb042b73af3 MD5 95350 2021-05-26 17:56:21 https://researchdata.bath.ac.uk/594/24/KeyframePoses.zip 594 24 24 application/zip other en public cc_by

KeyframePoses.zip

data archive 8978 disk0/00/00/05/94 2021-06-14 10:33:51 2024-05-14 13:11:11 2021-06-14 10:33:51 data_collection show Miao Yu Y.Miao@bath.ac.uk 0000-0002-1100-693X University of Bath TRUE Hunter Alan A.J.Hunter@bath.ac.uk 0000-0003-2887-5442 University of Bath FALSE Georgilas Ioannis I.Georgilas@bath.ac.uk 0000-0001-8986-8102 University of Bath FALSE Dataset for "Parameter Reduction and Optimisation for Point Cloud and Occupancy Mapping Algorithms" GM0130 dept_mech_eng Mapping, SLAM In the applications of occupancy mapping, the scene to be explored is normally large and objects are of irregular shapes. In this case, it is difficult to evaluate the performance of a mapping approach since the ground truth can hardly be obtained. This dataset aims to provide small measured scenes with ground truths for evaluation purposes. Videos are recorded in .svo files. These files can be opened with the tools provided in ZED SDK which can be downloaded at Stereo Labs website (https://www.stereolabs.com). Images in the videos can be extracted using the API in ZED SDK and the camera parameters can also be accessed by ZED API. Ground truth files are in .ot format. These files can be viewed by octovis package. To install octovis, run 'sudo apt-get install octovis' in Ubuntu. Camera trajectories produced by ORB-SLAM and keyframe poses produced by ORB-SLAM are in .txt files. Most text editors can open files of this type. 2021-06-14 University of Bath public RightsHolder University of Bath University of Bath https://doi.org/10.13039/501100000835 This dataset contains 20 video files used for occupancy mapping. The dataset was recorded with a ZED stereo camera (Stereo Labs, USA) in two environments at University of Bath, in front of buildings and in a parking lot. Targets in the dataset are two boxes whose external surfaces are either with a plain brown cardboard texture or are covered with randomly generated Voronoi diagrams. The average size of the polygons in each diagram is about 3 cm x 3 cm. The colour of each polygon is randomly generated. The Voronoi diagrams are printed in 300 DPI on the posters of A0 size and cropped to cover the surfaces of boxes. Two boxes are arranged in a layout as one of five free tetrominoes, i.e., I, O, T, L and S, in the Tetris game. The camera obits the boxes twice in a anti-clock direction to capture videos. Ground truths are also included in this dataset package. The device for data collection is a ZED camera from Stereo Labs, USA. Software is ZED SDK which is available at https://www.stereolabs.com. The Parade and East Extension Car Park, University of Bath en 1 10.15125/BATH-00594 https://doi.org/10.3390/s21217004 pub https://doi.org/10.3390/s22010139 pub