Datasets

In order to test and verify RCARS, we provide a few datasets. You can download all datasets from our website.

There are 5 different datasets available:

• cube: A large scale dataset through our lab with loop closure
• pavillon: A large scale dataset with indoor and outdoor scenes
• table: A small dataset with three tags aligned on a table
• dataset_1: A small dataset with sparse tag placement and motion blur
• extrinsics: A set of 10 short datasets with dense tag coverage

Settings

All our datasets work well with the default parameters and use tagFamily 4. Only the tagSize and the number of tags vary.

• cube: tag size: 0.232, number of tags: 34
• pavillon: tag size: 0.232, number of tags: 34
• talbe: tag size: 0.16, number of tags: 3
• dataset_1: tag size: 0.16, number of tags: 3
• extrinsics: tag size: 0.232, number of tags: 10

Ground truth

For the small scale datasets table and dataset_1, you will find ground truth data from a Vicon motion capture system included in the bag file. Due to their scale, we cannot provide ground truth data for a large scale dataset.

Running the datasets

To launch RCARS, simply use the launch file "vi-sensor_left_bag.launch" in the rcars_estimator package (see Running RCARS). The bag files can be played back using

 rosbag play <datasetFilename>

For the larger datasets your computer might struggle with speed. If so, you can play back the dataset at a lower speed, e.g. 3x slowdown

rosbag play <datasetFilename> -r 0.33