Quadruped
M-SEVIQ
Agile quadruped perception and sensor fusion
Stereo event and RGB-D recordings with inertial and joint data from a Unitree Go2 in varied indoor/outdoor lighting, including active near-infrared illumination.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Quadruped
- Environment
- Indoor, Outdoor
- Data origin
- Real-world
- Sensor count
- 6
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| Not reported | RTK GNSS | RTK-GPS | Not reported | Not reported | Unknown |
Reference provenance
Unknown
|
|
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Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Parameters Only
- Processed parameters
- Available
- Raw calibration data
- Not reported
- Calibration targets
- checkerboard
Parameters only
Processed calibration parameters are reported, but raw calibration data is not reported.
Notes
Event intrinsics use checkerboard observations; RealSense intrinsics and RGB/depth transforms use manufacturer parameters. RGB-to-robot extrinsics use CAD and event stereo extrinsics use eKalibr. Parameters are stated to be available online.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Reflections, close obstacles and repetitive indoor scenes challenge perception.
Exact released sequence count is unresolved across the source descriptions.
Cameras
stereo-events
- Model
- Prophesee EVK4
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Event
- Resolution
- 1280 x 720
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- 41.4 deg
- VFOV
- 23.6 deg
- Notes
- Left and right asynchronous event buffers are recorded; active NIR conditions are part of the collection.
rgbd
- Model
- Intel RealSense D435i
- Setup
- Rgbd
- Count
- 1
- Effective cameras
- 2
- Modality
- Rgbd
- Resolution
- Not reported
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Color and rectified depth are recorded; the overview's up-to-90-fps specification does not establish delivered cadence.
IMUs
D435i-integrated IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
Unitree Go2 IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Other sensor
- Name
- Joint encoders
- Count
- 12
- Notes
- Unitree joint data are recorded with robot IMU in the low-state topic; these are limb-joint encoders.
Annotations
Reported annotation availability and task support.
- Availability
- Not reported
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
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