A large-scale dataset for indoor visual localization with high-precision ground truth
文献类型：期刊论文
| 作者 | Liu, Yuchen1,2 ; Gao, Wei1,2; Hu, Zhanyi1,2
|
| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
 |
| 出版日期 | 2021-10-26 |
| 页码 | 7 |
| 关键词 | Indoor scene dataset depth completion large scale visual localization point cloud processing |
| ISSN号 | 0278-3649 |
| DOI | 10.1177/02783649211052064 |
| 通讯作者 | Gao, Wei(wgao@nlpr.ia.ac.cn) |
| 英文摘要 | 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 m(2) 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 |
| WOS关键词 | PLACE RECOGNITION |
| 资助项目 | National Key R&D Program of China[2016YFB0502002] ; Natural Sciences Foundation of China[61991423] ; Natural Sciences Foundation of China[61872361] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000712322400001 |
| 出版者 | SAGE PUBLICATIONS LTD |
| 资助机构 | National Key R&D Program of China ; Natural Sciences Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46288]  |
| 专题 | 自动化研究所_模式识别国家重点实验室_机器人视觉团队 |
| 通讯作者 | Gao, Wei |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, NLPR, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Yuchen,Gao, Wei,Hu, Zhanyi. A large-scale dataset for indoor visual localization with high-precision ground truth[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,2021:7. |
| APA | Liu, Yuchen,Gao, Wei,&Hu, Zhanyi.(2021).A large-scale dataset for indoor visual localization with high-precision ground truth.INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,7. |
| MLA | Liu, Yuchen,et al."A large-scale dataset for indoor visual localization with high-precision ground truth".INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2021):7. |
入库方式： OAI收割
来源：自动化研究所
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