UGV, Handheld
RGBD-SLAM
RGB-D SLAM
Indoor RGB-D SLAM dataset for ground-robot and hand-held platforms.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Download
Not reportedPaper
Not reportedCode
Not reportedSupplementary
Not reportedQuick facts
- Vehicle type
- UGV, Handheld
- Environment
- Indoor
- Data origin
- Real-world
- Sensor count
- 2
- Ground truth
- Available
- Calibration
- Full Raw Calibration Data
- 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
|
|---|---|---|---|---|---|---|
| 6DoF | Motion capture | MotionAnalysis · Raptor-E | 8 cameras | 100 Hz | Partial · Motion Capture Volume |
Reference provenance
External
Accuracy and notes
|
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Full Raw Calibration Data
- Processed parameters
- Available
- Raw calibration data
- Available
- Calibration targets
- checkerboard
Reproducible calibration data
Raw calibration data is reported, so users can reproduce or inspect the calibration process.
Notes
Camera intrinsics, depth-scale correction, Kinect-to-motion-capture extrinsics, timing alignment, and dedicated RGB, infrared, depth, and extrinsic calibration sequences are provided.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
The Kinect RGB camera uses a rolling shutter and can distort images during motion.
RGB and depth images retain an approximately 20 ms relative delay and must be associated by timestamp.
Kinect depth noise is approximately 1 cm through 2 m and increases to approximately 5 cm at 4 m.
Long industrial-hall trajectories leave the motion-capture volume, so ground truth exists only near their beginning and end.
Cameras
rgb-d
- Model
- Microsoft Xbox Kinect
- Setup
- Rgbd
- Count
- 1
- Effective cameras
- 2
- Modality
- Rgbd
- Resolution
- 640 x 480
- Rate
- 30 Hz
- Shutter
- Rolling
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- The rolling shutter applies to the RGB camera. Depth images are registered to the RGB optical frame using the Kinect factory calibration.
IMUs
Not reported
GNSS
Not reported
LiDAR
Not reported
Additional sensors
Other sensor
- Name
- Kinect accelerometer
- Count
- 1
- Rate
- 500 Hz
- Notes
- Released three-axis accelerometer measurements; the paper does not report a gyroscope stream.
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.
@inproceedings{Sturm2012,
title = {A Benchmark for the Evaluation of {{RGB-D SLAM}} Systems},
booktitle = {2012 {{IEEE}}/{{RSJ International Conference}} on {{Intelligent Robots}} and {{Systems}}},
author = {Sturm, Jrgen and Engelhard, Nikolas and Endres, Felix and Burgard, Wolfram and Cremers, Daniel},
year = {2012},
month = oct,
pages = {573--580},
publisher = {{IEEE}},
address = {{Vilamoura-Algarve, Portugal}},
doi = {10.1109/IROS.2012.6385773},
urldate = {2023-10-04},
isbn = {978-1-4673-1736-8 978-1-4673-1737-5 978-1-4673-1735-1}
}Dataset corrections
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