Dear All,
I have to make my own custom data set in TUM dataset format (like https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats) with ground truth data in order to check the accuracy of SLAM algorithm for Visual - Inertial Scenario.
Any suggestions and recommendations are highly appreciated.
Thank you.
You need to be more specific than 'build your own dataset'. Do you mean you have some original data that you want to copy and synthesize a lot of?
If this is the case then I recommend using GAN
https://en.wikipedia.org/wiki/Generative_adversarial_network
Thank you Francis Joseph Costello for the reply.
I mean for "build your own dataset" means here making a dataset from my recorded video with my phone. By taking the video from my mobile phone camera of black line on the white sheet. Here I know the length of my black line so I take a video from the starting point to the ending point. SLAM records the map and path. Here for generating the dataset I convert my video to 640 x 480 resolution in PNG format and put in RGB folder and generate the timestamp in txt file as instructed here (https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats) but my dataset has no ground truth data to compare the measure trajectory and ground truth trajectory. Would you kindly guide me how to generate my ground truth data so that I compare with the measure trajectory?
I am afraid this out of my expertise, if you wanted to copy and synthesize data from an established small dataset I could help. Good luck, sorry I could not help further!
Dear Francis Joseph Costello
Thank you for the reply. No problem, Someone suggest to generate some datasets with ground truth, one option is using synthetic data that can be generated via 3D modeling software like blender (https://www.blender.org/), where you can define a camera odometry and render images as well as depth images, then you will have ground truth camera odometry and all the other information which are probably needed for a SLAM project.
I want to ask if this may be helpful?
Dear Thuan Bui Bach
Not so far, If you find anything new or you have any suggestions and recommendation in mind. Kindly let me know.
Regards
Hi!
I have the same problem, I need to get ground truth data for my custom data set.
I tried this way:
Since a groundtruth.txt file is available in rgbd_dataset_freiburg1_xyz (https://vision.in.tum.de/data/datasets/rgbd-dataset/download ), I tried to run freiburg1 data using VisualSfM. After starting, I get the file cameras_v2.txt in which the camera parameters are available (including camera position and orientation in quaternion format).
I compared the groundtruth.txt with the obtained cameras_v2.txt file, but the data does not match. Do I have to do additional calculations on the resulting file (cameras_v2.txt)?
Is it even possible to compare these two files?
Thuan Bui Bach How this tool helped you?
Thanks!
Regards
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