Gaussian Splatting on the Move - Smartphone Dataset

Casual smartphone 3D scans using three devices: iPhone 15 Pro, Samsung Galaxy S20 FE and Google Pixel 5. The raw data (prefixed "spectacular-rec-") has been captured with the Spectacular Rec applications for Android and iOS, and contains time-synchronized video and IMU data. The extras file also contains AprilGrid calibration sequences, as well as pre-computed calibration results, for the Android devices.

The data is captured in non-ideal lighting conditions and has a moderate amount of motion blur and rolling shutter artefacts. The included metadata also contains the exposure times and the (Android) rolling shutter readout times, as well as the built-in calibration data, as reported by the devices.

The dataset also contains three different processed variants (prefixed with "colmap-"), which are directly trainable with Nerfstudio. In the processed variants, suitable minimally blurry video frames have been selected as key frames and their poses have been registered with COLMAP. In addition, the local linear and angular velocities of each key frame has been estimated using VIO with Spectacular AI Mapping Tools. The "calib-intrinsics" and "orig-intrinsics" variants include manually calibrated and built-in intrinsics, respectively. They depend on the third variant with symbolic links. The third variant has COLMAP-estimated intrinsics, which are relatively inaccurate for the Android data with high levels rolling shutter deformation.