Sequences
Table of Contents
Data Recordings #
Car #
Urban Day #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| city_hall | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| horse | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| penno_big_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| penno_small_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| rittenhouse | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| schuylkill_tunnel | h5 Events Vids: H264/FFV1 |
- | - | - |
| ucity_big_loop | h5 Events Vids: H264/FFV1 |
- | - | - |
| ucity_small_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
Urban Night #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| city_hall | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| penno_big_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| penno_small_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| penno_small_loop_darker | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| rittenhouse | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| schuylkill_tunnel | h5 Events Vids: H264/FFV1 |
- | - | - |
| ucity_big_loop | h5 Events Vids: H264/FFV1 |
- | - | - |
| ucity_small_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
Forest #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| into_ponds_long | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| into_ponds_short | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| sand_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| sand_2 | h5 Events Vids: H264/FFV1 |
- | - | - |
| tree_tunnel | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
Falcon #
Indoor #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| flight_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| flight_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| flight_3 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
Outdoor Day #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| fast_flight_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| fast_flight_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| fast_flight_3 | h5 Events Vids: H264/FFV1 |
- | - | - |
| penno_cars | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| penno_parking_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| penno_parking_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| penno_parking_3 | h5 Events Vids: H264/FFV1 |
- | - | - |
| penno_plaza | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| penno_trees | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
Outdoor Night #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| high_beams | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| penno_parking_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| penno_parking_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
Forest #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| into_forest_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| into_forest_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| into_forest_4 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| road_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| road_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| road_3 | h5 Events Vids: H264/FFV1 |
- | - | - |
| road_forest | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| up_down | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
Spot #
Indoor #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| building_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| obstacles | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| stairs | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| stairwell | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
Outdoor Day #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| art_plaza_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| penno_building_loop | h5 Events Vids: H264/FFV1 |
- | - | - |
| penno_short_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| rocky_steps | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| skatepark_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| skatepark_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| skatepark_3 | h5 Events Vids: H264/FFV1 |
- | - | - |
| srt_green_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| srt_under_bridge_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
| srt_under_bridge_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
h5 Sem. Vids: H264/FFV1 |
pcd raw bag |
Outdoor Night #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| penno_building_loop | h5 Events Vids: H264/FFV1 |
- | - | - |
| penno_plaza_lights | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| penno_short_loop | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
Forest #
| Sequence | Data | GT | Semantics | Others |
|---|---|---|---|---|
| easy_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| easy_2 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| hard | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| road_1 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
| road_2 | h5 Events Vids: H264/FFV1 |
- | - | - |
| road_3 | h5 Events Vids: H264/FFV1 RGB Vids: H264/FFV1 |
depth h5 pose h5 Depth Vids: H264/FFV1 With events: H264/FFV1 |
- | pcd raw bag |
Calibrations #
You should not download the calibration files if you
are only using the data recordings.
These calibrations are the raw outputs of Kalibr, provided here for transparency.
We embedded a processed version of the calibration in each data file. See this
thread for more information.
dataset_list.yaml
indicates which calibration was used for each sequence.
Camera Calibrations #
Car #
| Name | Data | Kalibr Output | Others |
|---|---|---|---|
| forest_1 | h5 | cam_chain results report |
raw bag |
| forest_2 | h5 | cam_chain results report |
raw bag |
| forest_3 | h5 | cam_chain results report |
raw bag |
| forest_4 | h5 | cam_chain results report |
raw bag |
| forest_5 | h5 | cam_chain results report |
raw bag |
| forest_6 | h5 | cam_chain results report |
raw bag |
| urban_day_1 | h5 | cam_chain results report |
raw bag |
| urban_day_2 | h5 | cam_chain results report |
raw bag |
| urban_day_3 | h5 | cam_chain results report |
raw bag |
| urban_day_4 | h5 | cam_chain results report |
raw bag |
| urban_day_5 | h5 | cam_chain results report |
raw bag |
| urban_day_6 | h5 | cam_chain results report |
raw bag |
| urban_day_7 | h5 | cam_chain results report |
raw bag |
| urban_day_8 | h5 | cam_chain results report |
raw bag |
| urban_night_1 | h5 | cam_chain results report |
raw bag |
Falcon #
| Name | Data | Kalibr Output | Others |
|---|---|---|---|
| forest_1 | h5 | cam_chain results report |
raw bag |
| forest_2 | h5 | cam_chain results report |
raw bag |
| forest_3 | h5 | cam_chain results report |
raw bag |
| forest_4 | h5 | cam_chain results report |
raw bag |
| forest_5 | h5 | cam_chain results report |
raw bag |
| forest_6 | h5 | cam_chain results report |
raw bag |
| forest_7 | h5 | cam_chain results report |
raw bag |
| forest_8 | h5 | cam_chain results report |
raw bag |
| forest_9 | h5 | cam_chain results report |
raw bag |
| forest_10 | h5 | cam_chain results report |
raw bag |
| indoor_camera_calib | h5 | cam_chain results report |
raw bag |
| outdoor_day_1 | h5 | cam_chain results report |
raw bag |
| outdoor_day_2 | h5 | cam_chain results report |
raw bag |
| outdoor_day_3 | h5 | cam_chain results report |
raw bag |
| outdoor_night_1 | h5 | cam_chain results report |
raw bag |
| outdoor_night_2 | h5 | cam_chain results report |
raw bag |
Spot #
| Name | Data | Kalibr Output | Others |
|---|---|---|---|
| forest_1 | h5 | cam_chain results report |
raw bag |
| forest_2 | h5 | cam_chain results report |
raw bag |
| forest_3 | h5 | cam_chain results report |
raw bag |
| indoor_camera_calib | h5 | cam_chain results report |
raw bag |
| outdoor_day_1 | h5 | cam_chain results report |
raw bag |
| outdoor_day_2 | h5 | cam_chain results report |
raw bag |
| outdoor_day_3 | h5 | cam_chain results report |
raw bag |
| outdoor_night_1 | h5 | cam_chain results report |
raw bag |
| outdoor_night_2 | h5 | cam_chain results report |
raw bag |
IMU Calibrations #
| Name | Data | Kalibr Output | Others |
|---|---|---|---|
| falcon_1 | - | imu_chain results report |
raw bag |
| falcon_2 | - | imu_chain results report |
raw bag |
| falcon_3 | - | imu_chain results report |
raw bag |
| tower_1 | h5 | imu_chain results report |
raw bag |
| tower_2 | h5 | imu_chain results report |
raw bag |