{"title":"A large-scale dataset for indoor visual localization with high-precision ground truth","authors":"Yuchen Liu, Wei Gao, Zhanyi Hu","doi":"10.1177/02783649211052064","DOIUrl":null,"url":null,"abstract":"This article presents a challenging new dataset for indoor localization research. We have recorded the whole internal structure of Fengtai Wanda Plaza which is an area of over 15,800 m2 with a Navvis M6 device. The dataset contains 679 RGB-D panoramas and 2,664 query images collected by three different smartphones. In addition to the data, an aligned 3D point cloud is produced after the elimination of moving objects based on the building floorplan. Furthermore, a method is provided to generate corresponding high-resolution depth images for each panorama. By fixing the smartphones on the device using a specially designed bracket, six-degree-of-freedom camera poses can be calculated precisely. We believe it can give a new benchmark for indoor visual localization and the full dataset can be downloaded from http://vision.ia.ac.cn/Faculty/wgao/data_code/data_indoor_localizaiton/data_indoor_localization.htm","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":null,"pages":null},"PeriodicalIF":7.5000,"publicationDate":"2021-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Robotics Research","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1177/02783649211052064","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 4
Abstract
This article presents a challenging new dataset for indoor localization research. We have recorded the whole internal structure of Fengtai Wanda Plaza which is an area of over 15,800 m2 with a Navvis M6 device. The dataset contains 679 RGB-D panoramas and 2,664 query images collected by three different smartphones. In addition to the data, an aligned 3D point cloud is produced after the elimination of moving objects based on the building floorplan. Furthermore, a method is provided to generate corresponding high-resolution depth images for each panorama. By fixing the smartphones on the device using a specially designed bracket, six-degree-of-freedom camera poses can be calculated precisely. We believe it can give a new benchmark for indoor visual localization and the full dataset can be downloaded from http://vision.ia.ac.cn/Faculty/wgao/data_code/data_indoor_localizaiton/data_indoor_localization.htm
期刊介绍：
The International Journal of Robotics Research (IJRR) has been a leading peer-reviewed publication in the field for over two decades. It holds the distinction of being the first scholarly journal dedicated to robotics research.
IJRR presents cutting-edge and thought-provoking original research papers, articles, and reviews that delve into groundbreaking trends, technical advancements, and theoretical developments in robotics. Renowned scholars and practitioners contribute to its content, offering their expertise and insights. This journal covers a wide range of topics, going beyond narrow technical advancements to encompass various aspects of robotics.
The primary aim of IJRR is to publish work that has lasting value for the scientific and technological advancement of the field. Only original, robust, and practical research that can serve as a foundation for further progress is considered for publication. The focus is on producing content that will remain valuable and relevant over time.
In summary, IJRR stands as a prestigious publication that drives innovation and knowledge in robotics research.
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