A large-scale dataset for indoor visual localization with high-precision ground truth

doi:10.1177/02783649211052064

	A large-scale dataset for indoor visual localization with high-precision ground truth
	Liu, Yuchen1,2 ; Gao, Wei1,2 ; Hu, Zhanyi1,2
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
ISSN	0278-3649
	2021-10-26
页码	7
通讯作者	Gao, Wei(wgao@nlpr.ia.ac.cn)
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
关键词	Indoor scene dataset depth completion large scale visual localization point cloud processing
DOI	10.1177/02783649211052064
关键词[WOS]	PLACE RECOGNITION
收录类别	SCI
语种	英语
资助项目	National Key R&D Program of China[2016YFB0502002] ; Natural Sciences Foundation of China[61991423] ; Natural Sciences Foundation of China[61872361]
项目资助者	National Key R&D Program of China ; Natural Sciences Foundation of China
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000712322400001
出版者	SAGE PUBLICATIONS LTD
七大方向——子方向分类	三维视觉
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/46289
专题	多模态人工智能系统全国重点实验室_机器人视觉
通讯作者	Gao, Wei
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, NLPR, Beijing 100190, Peoples R China
第一作者单位	模式识别国家重点实验室
通讯作者单位	模式识别国家重点实验室
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.