INAOE/DREAM Benchmark dataset

Research group on Embedded Architecture for Multisensing

We provide a new dataset containing monocular video sequences and ground-truth data with the goal to establish a novel benchmark for the evaluation of visual odometry algorithms in complex camera movements. Our dataset consists of 130 monocular sequences provided with ground truth trajectories for all the sequences. The data was recorded at full frame rate (60 Hz) and, the ground-truth trajectory was obtained from a high-accuracy motion-capture system with eight high-speed tracking cameras (Vicon V8, 8MP, 2000Hz, https://www.vicon.com/products/camera-systems/vantage).

How can I use the INAOE/DREAM Benchmark dataset?

  1. Download one or more benchmark sequences
  2. Run your favorite visual odometry/visual SLAM algorithm
  3. Save the estimated camera trajectory to a file
  4. Evaluate your algorithm by comparing the estimated trajectory with the ground truth trajectory.

 

In the following table you can download all the benchmark sequences. Each sequence involve complex camera movements, where the dominant movements are as defined in the table. Each file contains both a folder with the image sequence and a .txt file with the corresponding ground truth. For the ground truth file each row correspond with the camera pose for the current frame (p1,1; p1,2; p1,3; x; p2,1; p2,2; p2,3; y; p3,1; p3,2; p3,3; z), where p(n,m) are the nine elements of the rotation matrix while (x,y,z) are the Cartesian coordinates.

 MovementDownload
SequenceXYZAlpha BetaGamma12
00------downloaddownload
01-----xdownloaddownload
02----x-downloaddownload
03----xxdownloaddownload
04---x--downloaddownload
05---x-xdownloaddownload
06---xx-downloaddownload
07---xxxdownloaddownload
08--x---downloaddownload
09--x--xdownloaddownload
10--x-x-downloaddownload
11--x-xxdownloaddownload
12--xx--downloaddownload
13--xx-xdownloaddownload
14--xxx-downloaddownload
15--xxxxdownloaddownload
16-x----downloaddownload
17-x---xdownloaddownload
18-x--x-downloaddownload
19-x--xxdownloaddownload
20-x-x--downloaddownload
21-x-x-xdownloaddownload
22-x-xx-downloaddownload
23-x-xxxdownloaddownload
24-xx---downloaddownload
25-xx--xdownloaddownload
26-xx-x-downloaddownload
27-xx-xxdownloaddownload
28-xxx--downloaddownload
29-xxx-xdownloaddownload
30-xxxx-downloaddownload
31-xxxxxdownloaddownload
32x-----downloaddownload
33x----xdownloaddownload
34x---x-downloaddownload
35x---xxdownloaddownload
36x--x--downloaddownload
37x--x-xdownloaddownload
38x--xx-downloaddownload
39x--xxxdownloaddownload
40x-x---downloaddownload
41x-x--xdownloaddownload
42x-x-x-downloaddownload
43x-x-xxdownloaddownload
44x-xx--downloaddownload
45x-xx-xdownloaddownload
46x-xxx-downloaddownload
47x-xxxxdownloaddownload
48xx----downloaddownload
49xx---xdownloaddownload
50xx--x-downloaddownload
51xx--xxdownloaddownload
52xx-x--downloaddownload
53xx-x-xdownloaddownload
54xx-xx-downloaddownload
55xx-xxxdownloaddownload
56xxx---downloaddownload
57xxx--xdownloaddownload
58xxx-x-downloaddownload
59xxx-xxdownloaddownload
60xxxx--downloaddownload
61xxxx-xdownloaddownload
62xxxxx-downloaddownload
63xxxxxxdownloaddownload
Padawan DREAM