[robotics-worldwide] [news] xawAR16: A multi-RGBD camera dataset for camera relocalization evaluation in the operating room

Nicolas Loy Rodas nloyrodas at unistra.fr
Mon Jul 10 01:00:12 PDT 2017

Dear colleagues,

We are pleased to inform you that a multi-RGBD camera dataset called
*xawAR16 *is now available. Such a dataset was generated inside an
Operating Room (IHU Strasbourg, France) and was designed to evaluate the
tracking/relocalization of a hand-held camera, which is moved freely at
both sides of the operating table under different scene configurations.

Three RGBD cameras (Asus Xtion Pro Live) were used to record such a
dataset. Two of them are rigidly mounted to the ceiling in a configuration
allowing them to capture views from each side of the operating table. A
third one is fixed to a display, which is held by a user who moves around
the room. A reflective passive marker is attached to the moving camera and
its ground-truth pose is obtained with a real-time optical 3D measurement
system (infiniTrack system from Atracsys).

The dataset is composed of 16 sequences of time-synchronized color and
depth images in full sensor resolution (640×480) recorded at 25 fps, along
with the ground-truth poses of the moving camera measured by the tracking
device at 30 Hz. Each sequence shows different scene configurations and
camera motion, including occlusions, motion in the scene and abrupt
viewpoint changes.

For more information or for getting access to the xawAR16 dataset, please
visit our website: https://urldefense.proofpoint.com/v2/url?u=http-3A__camma.u-2Dstrasbg.fr_xawar16-2Ddataset&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=Vk5bs0rvuyvEMFlcKmT9VFZsQwRCFkHuavaoRcEm3Cc&s=HtmcVVhdtiEC4vF2wgMcIDN2szYsOFXM8mhY_6dkPBw&e= 

Best regards,

Nicolas Loy Rodas
Research Group CAMMA, University of Strasbourg


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