Insights into Batch Selection for Event-camera Motion Estimation - Datasets

See https://github.com/event-driven-robotics/batch-selection-experiments for examples on how to read and process the data. Simulated datasets were used to accurately have a ground-truth of 3 DoF camera rotation, for valid training and evaluation. Four photo-realistic simulated environments from UnrealCV Zoo were selected as they are publicly available indoor scenes and include diverse lighting textures, shadows, reflections and object clutter. The camera was positioned inside the virtual room and rotated along all its three axes randomly at a variety of speeds. Frames were generated at >1 kHz from which the event-stream is generated using log-image-difference techniques. Five velocity trajectories were used for arch1, four velocity trajectories were used for arch2, and three trajectories for arch3. Including the final room dataset, a total of 13 different datasets (each with a different velocity trajectory) cover a total of 190 seconds of data. Note: room is split into 3 archived files. Please cite: Valerdi, J.L., Bartolozzi, C. and Glover, A., 2023. Insights into Batch Selection for Event-Camera Motion Estimation. Sensors, 23(7), p.3699. @article{valerdi2023insights,
title={Insights into Batch Selection for Event-Camera Motion Estimation},
author={Valerdi, Juan L and Bartolozzi, Chiara and Glover, Arren},
journal={Sensors},
volume={23},
number={7},
pages={3699},
year={2023},
publisher={MDPI}
}

可访问 https://github.com/event-driven-robotics/batch-selection-experiments 查看该数据集的读取与处理示例。本数据集采用模拟数据以精准获取三自由度（3 DoF）相机旋转的真实真值，用于模型的有效训练与评估。我们选取了UnrealCV Zoo提供的四个照片级逼真模拟室内场景作为实验环境，此类场景均为公开可用的室内数据集，涵盖多样化的光照纹理、阴影、反射效果与杂乱物体分布。将相机置于虚拟房间内部，并沿其三根旋转轴以多种随机速度进行旋转运动。系统以高于1 kHz的帧率生成图像帧，并通过对数图像差分（log-image-difference）技术从帧数据中生成事件流（event-stream）。针对arch1场景，我们使用了5组速度轨迹；arch2场景使用4组；arch3场景则使用3组速度轨迹。连同最终的房间数据集在内，本次实验共计包含13组不同的数据集（每组对应一组独特的速度轨迹），总数据时长达190秒。注：房间数据集被拆分为3个归档文件。请引用以下文献：
Valerdi, J.L., Bartolozzi, C. and Glover, A., 2023. 面向事件相机运动估计的批量选择研究洞察. 传感器, 23(7), 第3699页.
@article{valerdi2023insights,
title={Insights into Batch Selection for Event-Camera Motion Estimation},
author={Valerdi, Juan L and Bartolozzi, Chiara and Glover, Arren},
journal={Sensors},
volume={23},
number={7},
pages={3699},
year={2023},
publisher={MDPI}
}