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Record date: 2011
Record place: Freiburg
Robot/Vehicle: Hand-held kinect
Additional info:
This dataset is a derived work from the collection [1] published by the CVPR team in the TUM University. According to the original "Creative Commons Attribution" license, this derived work is also released under identical terms.
The dataset has been converted into the Rawlog format [2] and published in the aim of it being useful to MRPT users. It can be visualized and manipulated with MRPT tools, available for download at [3].
This tutorial explains how to parse the datasets to emulate real-time applications from an MRPT program: http://www.mrpt.org/Switching_between_reading_live_Kinect_RGBD_dataset_f...
Ubuntu users can also install:
sudo apt-get install libmrpt-dev mrpt-apps
and then right-click on *.rawlog files to open them with RawLogViewer (see a demo video on YouTube).
Note that RGB, depth and accelerometer data are available for each "observation". 3D point clouds haven't been pre-generated to save space, but they can be easily recovered by using "rawlog-edit":
rawlog-edit -i [INPUT.rawlog] -o [OUTPUT.rawlog] --generate-3d-pointclouds
Please, cite the original works by the corresponding authors when citing this dataset [4,5].
To download all the datasets in a row, download this list and invoke:
wget -i rgbd_tum_datasets_2011.txt
The source code of the tool used to convert these datasets into the "rawlog" format is available as one of MRPT's code examples.
Some notes about the differences between Kinect datasets in Rawlog format and in the TUM originals:
- In MRPT, a Kinect observation object (CObservation3DRangeScan) can store the three fields simultaneously: range image, RGB data and projected 3D point coordinates.
- An observation is created only when both range & RGB data are available in the dataset with a difference in timestamp below half the kinect period (1/30 sec). That means that due to ocasional losses in the original datasets, the rate of observations is less than 30Hz.
- Only one IMU entry is kept per RGB+Range pair. If you need high-rate accelerometer data, please download the TUM original data files.
[1] Original datasets: http://cvpr.in.tum.de/data/datasets/rgbd-dataset/
[2] Rawlog format specification: http://www.mrpt.org/Rawlog_Format
[3] MRPT downloads: http://www.mrpt.org/download
[4] http://cvpr.in.tum.de/data/datasets/rgbd-dataset?key=sturm11rss-rgbd
[5] http://cvpr.in.tum.de/data/datasets/rgbd-dataset?key=engelhard11euron-wo...
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(rawlog_rgbd_dataset_freiburg1_360.tgz - 0.4Gb) 