Awesome
MLAD Challenge
Usage
Dataset Structure
- reference sequence:
recording_2020-04-07_10-20-32
- training sequence:
recording_2020-03-24_17-36-22
- validation sequence:
recording_2020-03-03_12-03-23
- test sequence:
recording_2020-03-24_17-45-31
,recording_2020-04-23_19-37-00
Dataset Preparation
For the re-localization challenge, we provide 5 different traversals of the same sequence at different times. We provide a reference map, which contains high-accurate ground truth. We also do provide another traversal with ground truth to be used for training. One sequence can be used for validation and the two remaining sequences will be used as test sequences. The directory of the reference map has the following structure:
.
├── Calibration
│ ├── undistorted_calib_0.txt
│ ├── undistorted_calib_1.txt
│ └── undistorted_calib_stereo.txt
├── KeyFrameData
├── RelocalizationFilesTest
│ ├── relocalizationFile_recording_2020-03-24_17-45-31_easy.txt
│ ├── relocalizationFile_recording_2020-03-24_17-45-31_hard.txt
│ ├── relocalizationFile_recording_2020-03-24_17-45-31_moderate.txt
│ ├── relocalizationFile_recording_2020-04-23_19-37-00_easy.txt
│ ├── relocalizationFile_recording_2020-04-23_19-37-00_hard.txt
│ └── relocalizationFile_recording_2020-04-23_19-37-00_moderate.txt
├── RelocalizationFilesTrain
│ └── relocalizationFile_recording_2020-03-24_17-36-22.txt
├── RelocalizationFilesVal
│ └── relocalizationFile_recording_2020-03-03_12-03-23.txt
├── keyframe_accuracy.txt
├── poses.txt
├── times.txt
└── undistorted_images
├── cam0
└── cam1
Here,
Calibration
contains both the intrinsic and extrinsic calibration of the stereo camera.KeyFrameData
contains the KeyFrameFiles.RelocalizationFilesTest
contains the re-localization files between the source (reference) and the target sequence.RelocalizationFilesTrain
contains the re-localization files between the source (reference) and the training sequence together with the relative poses.RelocalizationFilesVal
contains the re-localization files between the source (reference) and the validation sequence together with the relative poses.keyframe_accuracy.txt
is a list of keyframes with a translational accuracy lower than0.05m
.poses.txt
is a list of6DOF
poses for all keyframes from the left camera to world coordinates.times.txt
is a list of times in unix timestamps, and exposure times for each keyframe.undistorted_images
contains both the images from the left and right camera, respectively.
The KeyFrameData folder contains a .txt
file for each keyframe. Each Keyframe
file contains the following data: timestamp, camera intrinsics, camToWorld
transformation, exposure time and point cloud data. Each point is saved with
the following properties:
u,v
image coordinates of depth point in pixelsidepth_scaled
inverse depth value in1/m
- metric 3D camera coordinates are obtained as follows:
x=(u-cx)/(fx*idepth_scaled)
;y=(v-cy)/(fy*idepth_scaled)
;z=1/idepth_scaled
- metric 3D camera coordinates are obtained as follows:
idepth_hessian
hessian component of the corresponding inverse depth- estimated inverse depth variance is obtained as follows:
var=1/idepth_hessian
- estimated inverse depth variance is obtained as follows:
maxRelBaseline
maximum relative stereo baselinenumGoodRes
not relevantstatus
not relevantcolor information
color values of an 8 pixel patch around the depth pixel (see https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7898369 for definition)
The 6DOF
poses are specified as translation (t_x
, t_y
, t_z
), and quaternion (q_x
, q_y
, q_z
, q_w
). The test re-localization files are provided as easy, moderate, and hard version, which differ mainly in a larger translational distance between the source and target frame.
The directories of the test sequences should have the following structure:
.
├── Calibration
│ ├── undistorted_calib_0.txt
│ ├── undistorted_calib_1.txt
│ └── undistorted_calib_stereo.txt
├── times.txt
└── undistorted_images
├── cam0
└── cam1
Task
Each re-localization file contains a list of first the keyframe from the source (reference) sequence, and the target keyframe. The task is to provide the relative pose between the source and the target. Note that the relative pose for the validation file is from cam0 of the source sequence to cam0 of the target sequence, respectively.
Submission
For the test sequences, the ground truth is withheld. For submitting your results to the challenge, please refer to the steps described at: https://sites.google.com/view/mlad-eccv2020/challenge.