TSlam-dataset

The current repository contains the evaluation dataset for TSlam (@IBOIS, EPFL 2023). TSlam is a SLAM algorithm developed at IBOIS (Laboratory for Timber Construction) for fabrication scenarios involving cutting and drilling operations.<br> The algorithm's accuracy and precision have been gauged using the current dataset and an optitrack system to collect ground-truth data. The dataset is shared in open-access with the goal of promoting the reproducibility of our results and the pipeline for the evaluation can be found in https://github.com/ibois-epfl/TSlam/tree/main/eval . The structure of the dataset is as follow: ```<br> ├───01_camera_recordings<br> │ ├───01_fabrication-20230421-170830<br> │ ├───01_manual_mark_20230419-110238<br> │ ├───01_mapping_recording-20230421-133017<br> │ └───01_tag_mark_20230419-155416<br> ├───01_label_sequence<br> ├───01_opti_recordings<br> │ └───__raw<br> ├───01_pcd<br> │ ├───01_aligned_pcd<br> │ └───__raw<br> └───01_tslam_map_files<br> ``` Where, - `01_camera_recordings`: contains the video from the fabrication, marking, tags sticking and mapping;<br> - `01_label_sequence`: human-noted labels of the start and end frame of all operations in a given fabrication video;<br> - `01_opti_recordings`: the data obtained from the optitrack recordings during fabrication<br> - `01_pcd`: the scans and processed point clouds of the piece before the fabrication<br> - `01_tslam_map_files`: the files produced by TSlam本仓库包含TSlam（@IBOIS，EPFL 2023）的评估数据集。TSlam是由IBOIS（木材建筑实验室）开发的同步定位与地图构建（SLAM）算法，适用于切割、钻孔等制造作业场景。 本数据集结合OptiTrack系统采集的真值数据，对该算法的准确度与精度进行了评测。本数据集以开放获取形式共享，旨在推动研究结果的可复现性；其评估流程可访问https://github.com/ibois-epfl/TSlam/tree/main/eval 查阅。 数据集结构如下： ├───01_camera_recordings │ ├───01_fabrication-20230421-170830 │ ├───01_manual_mark_20230419-110238 │ ├───01_mapping_recording-20230421-133017 │ └───01_tag_mark_20230419-155416 ├───01_label_sequence ├───01_opti_recordings │ └───__raw ├───01_pcd │ ├───01_aligned_pcd │ └───__raw └───01_tslam_map_files 其中： - `01_camera_recordings`：包含制造作业、标记作业、粘贴标签以及建图过程的录制视频； - `01_label_sequence`：针对指定制造视频，人工标注的各作业的起止帧标签； - `01_opti_recordings`：制造过程中通过OptiTrack系统录制得到的数据； - `01_pcd`：制造前工件的扫描数据与处理后的点云数据； - `01_tslam_map_files`：由TSlam生成的相关文件。