A Multi-spectral Dataset for Evaluating Motion Estimation Systems

Weichen Dai, Yu Zhang, Shenzhou Chen, Donglei Sun, Da Kong

    Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

    Abstract

    Visible images have been widely used for motion estimation. Thermal images, in contrast, are more challenging to be used in motion estimation since they typically have lower resolution, less texture, and more noise. In this paper, a novel dataset for evaluating the performance of multi-spectral motion estimation systems is presented. All the sequences are recorded from a handheld multi-spectral device. It consists of a standard visible-light camera, a long-wave infrared camera, an RGB-D camera, and an inertial measurement unit (IMU). The multi-spectral images, including both color and thermal images in full sensor resolution (640 × 480), are obtained from a standard and a long-wave infrared camera at 32Hz with hardware-synchronization. The depth images are captured by a Microsoft Kinect2 and can have benefits for learning cross-modalities stereo matching. For trajectory evaluation, accurate groundtruth camera poses obtained from a motion capture system are provided. In addition to the sequences with bright illumination, the dataset also contains dim, varying, and complex illumination scenes. The full dataset, including raw data and calibration data with detailed data format specifications, is publicly available.

    Original languageEnglish
    Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages5560-5566
    Number of pages7
    ISBN (Electronic)9781728190778
    DOIs
    Publication statusPublished - 2021
    Event2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
    Duration: 30 May 20215 Jun 2021

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    Volume2021-May
    ISSN (Print)1050-4729

    Conference

    Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
    Country/TerritoryChina
    CityXi'an
    Period30/05/215/06/21

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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