Jonathan COURBON, Hemanth KORRAPATI, Serge ALIZON, François MARMOITON
About
The Institut Pascal DataSets contain sets of multisensory timestamped data that can be used in a large variety of robotics and vision applications. It includes data from classical and low-cost sensors, ground truth, multiple sequences as well as data for calibration and learning and soft tools with sources.
Synopsis
6 sequences in campus-type environment acquired within 2 places, making cumulated 18 kilometers, 2h10 minutes
Sensors
Ground truth: 1 RTK-GPS at 10Hz
Visual sensors: 1 classical camera, 3 synchronized non-overlapping cameras, 2 large field-of-view color cameras (fisheye/ catadioptric) at 7.5 fps, 1 webcam
Range sensors: 1 horizontal and 1 inclined single layer range sensors at 50Hz
Proprioceptive sensors: odometry(wheels and vehicle), steering angle sensor, accelerometers and gyrometer at 50Hz
GPS sensor: 1 low cost GPS at 1Hz
All data are timestamped and can be easily synchronised
Data size with all sensors: 5 GB/min
Calibration: results and calibration data for intrinsic calibration of cameras, camera-to-camera extrinsic calibration, range-sensor-to-camera calibration
Soft tools: data extraction, data visualization with source codes
Reference
How to Reference this Dataset ? We would appreciate it if you cite our work when using the dataset. The single reference at that moment is a paper written in French:
Korrapati, H., Courbon, J., Alizon, S. and Marmoiton, F. "The Institut Pascal Data Sets": un jeu de données en extérieur, multicapteurs et datées avec réalité terrain, données d'étalonnage et outils logiciels. In ORASIS, June 2013, Cluny, France.
News
2014-02-04 The code has been released (Qt5 can be used now) and additionnal tutorials are provided
2013-12-05 New tutorials have been added concerning: IPDSLib installation; data viewer: images only using OpenCV, data from most of the sensors using the provided Qt codes
2013-10-19 A new Section appears: Tutorials. It contains documentation about the data and how to use the provided codes.
2013-03-19 Some bugs have been detected. The data on the server will be updated before March 21st. It concerns: the files containing the timestamp for cameras for the sequences PAVIN-Faust and PAVIN-Hema as well as the script extractVideosAndArchives.sh. This one can be downloaded following this link: script
2013-03-13 Archive with odometry data have been corrected. A deadreckoned pose using a geometric evolution model has been added. Errors in timestamp for the sequences PAVIN-Hema and PAVIN-Faust have been corrected.
2013-03-05 The server is now installed. Data of the sequences are available for download. If any error or mistake is found, you can send an email to jonathan[dot]courbon[at]univ-bpclermont[dot]fr mentionning the error. We will try to solve it as quickly as possible.
2013-02-28 The source code has been corrected. You can now visualise the data from PAVIN-Subpart with the application IPDSViewer by setting "long long int startingtime=1352474726081521llu + 300000000llu; long long int endingtime=1352474726081521llu + 360000000llu;" in the main.cpp
2013-02-27 We have a delay to setup the server. However, it is possible to download a subpart of PAVIN-Jonco sequence (called PAVIN-Subpart) as well as the first version of our code.
2013-02-13 The first version of the website is well advanced
2012-07-16 Initial version of the website
Copyright
This material is presented to ensure timely dissemination of scholarly and technical work. All datasets and benchmarks on this page are copyright by us and published under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License. This means that you must attribute the work in the manner specified by the authors, you may not use this work for commercial purposes and if you alter, transform, or build upon this work, you may distribute the resulting work only under the same license. If you are interested in commercial usage you can contact us for further options.
Privacy
This dataset is made available for academic use only. However, we take your privacy seriously! If you find yourself or personal belongings in this dataset and feel unwell about it, please contact us and we will immediately remove the respective data from our server.
The Institut Pascal Data Sets, INSTITUT PASCAL UMR6602 - UBP - CNRS - IFMA; Clermont-Ferrand, France - ISPR axis
Jonathan COURBON, Hemanth KORRAPATI, Serge ALIZON, François MARMOITON
The Institut Pascal Data Sets
This material is presented to ensure timely dissemination of scholarly and technical work. All datasets and benchmarks on this page are copyright by us and published under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License. This means that you must attribute the work in the manner specified by the authors, you may not use this work for commercial purposes and if you alter, transform, or build upon this work, you may distribute the resulting work only under the same license. If you are interested in commercial usage you can contact us for further options.