Visual Odometry with a Single-Camera Stereo Omnidirectional System

Demonstration video using sequences from Grand Central Terminal (GCT):

Source code

The demonstration code can be found at the git repository for vo_single_camera_sos

Calibration Files

Data sets

Each sequence has 2 sub-folders:

• omni pertaining the omnistereo data
• rgbd pertaining the RGB-D camera data
  

Remarks about the “ground-truth” data used as reference

1. Ground-truth poses obey the TUM format, such that each line is spaced-separated encoding:

   • time stamp $t_x$ $t_y$ $t_z$ $q_x$ $q_y$ $q_z$ $q_w$

2. For each sequence, the gt_TUM.txt is the raw ground-truth data, which was obtained from the motion capture system. Thus, these poses are given wrt our VICON mocap’s frame, $[\rm{V}]$.

3. After running the demo_vo_*.py for some sequence, the resulting files will be given inside the results subfolder within the sequence path:

   • estimated_frame_poses_TUM.txt has the estimated poses ${}_{[{{\rm{C}}_i}]}^{[{\rm{K}_0}]}{\bf{\tilde T}}$ of the sequence wrt the initial camera frame, $[\rm{K}_0]$.
   • gt_associated_frame_poses_TUM.txt has the associated ground-truth poses for the registered frames. They are already transformed into the camera frame, $[\textbf{C}]$, via the appropriate hand-eye transformation, so that the pose is given as ${}_{[{{\rm{C}}_i}]}^{[{\rm{K}_0}]}{\bf{T}}$.
     

4. For the real-life sequences of the RGB-D camera, the required hand-eye transformation can be downloaded from this link rgbd_hand_eye_transformation.txt.

Synthetic sequences

To run the demo_vo_sos.py script with the synthetic data set, it suffices to obtain the corresponding GUMS calibration file gums-calibrated.pkl

Real-life sequences

• To run the demo_vo_sos.py script with the real-life SOS data set, it suffices to obtain the corresponding GUMS calibration file gums-calibrated.pkl

• To run the demo_vo_rgbd.py script with the real-life RGB-D data set, the required hand-eye transformation rgbd_hand_eye_transformation.txt is needed.

Conventional motion

Moving under special conditions

Moving in dynamic environments

Static rigs in dynamic environments

Citation

When using this dataset in your research, please cite:

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