Multi-Cam
| Multi-Camera Main | Platform | Calibration |
Multi-camera Vision Lidar IMU Dataset
In this expansion dataset, we have extended the ground truth pointcloud of New College to include the colllege’s cloister (featured in Harry Potter films) and the Monk’s Passage. We also introduce another outdoor large scale environment, Maths Institute at the University of Oxford, which is shown in the figure below (right). Collection 1 and 2 contain datasets collected in New college, where the Park sequence mimics the original long sequence of the 2011 New College Dataset. Collection 3 contains three difficulty levels around the Maths Institute environment.
Please cite:
Multi-Camera LiDAR Inertial Extension to the Newer College Dataset
Lintong Zhang, Marco Camurri, David Wisth, Maurice Fallon
arXiv: 2112.08854
[Preprint] [PDF] [Video]
Collection 1 - New College
| n | name | description | video |
|---|---|---|---|
| 1 | Quad-Easy | Two loops in the quad area with nominal walking speed (198s) | video |
| 2 | Quad-Medium | Two loops of faster walking with rotated cameras at some instance (190s) | video |
| 3 | Quad-Hard | Fastest walking with aggressive motions, approaching to walls, and lighting change (187s) | video |
| 4 | Stairs | Climb Up and down in a narrow stairway with door opening sequence and textureless surface (118s) | video |
Collection 2 - New College
| n | name | description | video |
|---|---|---|---|
| 1 | Cloister | Two loops in the cloister corridor and the cloister centre quad (278s) | video |
| 2 | Park | long experiment of the entire park and two quads with multiple loops (1567s) | video |
Collection 3 - Maths Institute
| n | name | description | video |
|---|---|---|---|
| 1 | Maths-Easy | Outdoor large scale environment with nominal walking speed (216s) | video |
| 2 | Maths-Medium | Faster walking with rotated cameras at some instance (176s) | video |
| 3 | Maths-Hard | Fastest walking with aggressive motions, textureless surface, rapid rotation and shaking (243s) | video |
Video sample playlist
Videos showing the all four image streams and lidar point cloud.
ROS Topics
Each file contains the following list of topics:
| Topic | Frequency [Hz] | Description |
|---|---|---|
/alphasense_driver_ros/imu |
200 | Alphasense IMU |
/alphasense_driver_ros/cam0/compressed |
30 | Alphasense right front camera image |
/alphasense_driver_ros/cam1/compressed |
30 | Alphasense left front camera image |
/alphasense_driver_ros/cam3/compressed |
30 | Alphasense right side camera image |
/alphasense_driver_ros/cam4/compressed |
30 | Alphasense left side camera image |
/os_cloud_node/imu |
100 | Ouster OS-0 IMU (InvenSense ICM-20948) |
/os_cloud_node/points |
10 | Point Cloud from Ouster OS-0 |
/os_node/imu_packets |
100 | raw Ouster IMU data (see definition here) |
/os_node/lidar_packets |
650 | raw Ouster LIDAR data (see definition here) |