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Synthetic-Dataset-Navigation-Ground Robot

Information

Dataset for paper -> "Synthetic dataset for navigation tasks of autonomous systems and ground robots".

Conference -> http://itnt-conf.org/index.php

Idea of Dataset -> For visual odometry algorithm testing.

Citing

If you find this repository useful for your research please use the following bibtex citations

@article{ ,
  title={Synthetic dataset for navigation tasks of autonomous systems and ground robots},
  author={Larisa Zherdeva, Evgeniy Minaev, Denis Zherdev, Vladimir Fursov},
  journal={ },
  volume={ },
  number={ },
  pages={ -- },
  year={2021},
  publisher={IEEE}
}

Dataset structure

  1. Illustration and Decryption

  2. Directory Tree

  3. Flat Surface

  4. Relief Surface

  5. Motion Blur

  6. Credits


Illustration and Decryption

How it looks:

CIRCLE TRAJECTORY example NON-INTERSECTING TRAJECTORY example

Output image sequence examples:

Type f - street Type a - wood Type b - gravel Type d - sand

Output .csv file decryption:

time, sec x axis, cm y axis, cm z axis, cm roll, ° pitch, ° yaw, ° distance to surface
(experimental for relief), cm		 speed, km/h
... ... ... ... ... ... ... ... ...
7.925049 336.818604 100.622841 19.972425 -0.027649 0.039745 51.9977 19.972424 1.789359
... ... ... ... ... ... ... ... ...

⬆️Dataset structure

Directory Tree

You can download FULL dataset (110 GB) in one click: DOWNLOAD DATASET 

├───FlatSurface_MotionBlurOFF/
│   │
│   ├───a_wood/
│   │   │
│   │   ├───01_line/
│   │   │   └───01_material/
│   │   │       ├───speed_2/
│   │   │       │   ├─── img_001.png
│   │   │       │   ├─── ...
│   │   │       │   └─── file.csv
│   │   │       ├───speed_8/
│   │   │       │   └─── ...
│   │   │       └───speed_15/
│   │   │           └─── ...
│   │   │
│   │   ├───02_circle/
│   │   │   └───.../
│   │   │       └───.../
│   │   │           └───...
│   │   │
│   │   └───.../
│   │
│   ├───b_stone/
│   │   └───.../
│   │
│   └───.../
│
├───FlatSurface_MotionBlurON/
│   │
│   ├───b_stone/
│   │   │
│   │   └───04_figure eight_motionblur/
│   │       └───01_material/
│   │           ├───speed_2/
│   │           │   ├─── img_001.png
│   │           │   ├─── ...
│   │           │   └─── file.csv
│   │           ├───speed_8/
│   │           │   └─── ...
│   │           └───speed_15/
│   │               └─── ...
│   │
│   └───f_street/
│       └───.../
│
└───Relief_MotionBlurOFF/
    │
    ├───b_stone/
    │   └───.../
    └───.../

⬆️Dataset structure


Flat Surface

..or you can download only specific data

Type a

wood / parquet / laminate
Motion Blur OFF

Surface
Image		 LINE TRAJECTORY
 CIRCLE TRAJECTORY
 RECTANGLE TRAJECTORY
 FIG. EIGHT TRAJECTORY
 NON-INTER. TRAJECTORY
 INTER. TRAJECTORY
01_material
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
02_material ❌ ❌ ❌ 2_km/h ❌ ❌
03_material ❌ ❌ ❌ 2_km/h ❌ ❌
04_material ❌ ❌ ❌ 2_km/h ❌ ❌
05_material ❌ ❌ ❌ 2_km/h ❌ ❌
06_material ❌ ❌ ❌ 2_km/h ❌ ❌
07_material ❌ ❌ ❌ 2_km/h ❌ ❌
08_material ❌ ❌ ❌ 2_km/h ❌ ❌

⬆️Dataset structure

Type b

gravel / stones
Motion Blur OFF

Surface
Image		 LINE TRAJECTORY
 CIRCLE TRAJECTORY
 RECTANGLE TRAJECTORY
 FIG. EIGHT TRAJECTORY
 NON-INTER. TRAJECTORY
 INTER. TRAJECTORY
01_material
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h		 ❌
02_material ❌ ❌ ❌ 2_km/h ❌ ❌
03_material ❌ ❌ ❌ 2_km/h ❌ ❌
04_material ❌ ❌ ❌ 2_km/h ❌ ❌

⬆️Dataset structure

Type c

grass / leaves
Motion Blur OFF

Surface
Image		 LINE TRAJECTORY
 CIRCLE TRAJECTORY
 RECTANGLE TRAJECTORY
 FIG. EIGHT TRAJECTORY
 NON-INTER. TRAJECTORY
 INTER. TRAJECTORY
01_material
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
02_material ❌ ❌ ❌ 2_km/h ❌ ❌
03_material ❌ ❌ ❌ 2_km/h ❌ ❌
04_material ❌ ❌ ❌ 2_km/h ❌ ❌

⬆️Dataset structure

Type d

sand
Motion Blur OFF

Surface
Image		 LINE TRAJECTORY
 CIRCLE TRAJECTORY
 RECTANGLE TRAJECTORY
 FIG. EIGHT TRAJECTORY
 NON-INTER. TRAJECTORY
 INTER. TRAJECTORY
01_material
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h		 ❌
02_material ❌ ❌ ❌ 2_km/h ❌ ❌
03_material ❌ ❌ ❌ 2_km/h ❌ ❌

⬆️Dataset structure

Type e

mud
Motion Blur OFF

Surface
Image		 LINE TRAJECTORY
 CIRCLE TRAJECTORY
 RECTANGLE TRAJECTORY
 FIG. EIGHT TRAJECTORY
 NON-INTER. TRAJECTORY
 INTER. TRAJECTORY
01_material
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h		 ❌
02_material ❌ ❌ ❌ 2_km/h ❌ ❌
03_material ❌ ❌ ❌ 2_km/h ❌ ❌

⬆️Dataset structure

Type f

street / bricks
Motion Blur OFF

Surface
Image		 LINE TRAJECTORY
 CIRCLE TRAJECTORY
 RECTANGLE TRAJECTORY
 FIG. EIGHT TRAJECTORY
 NON-INTER. TRAJECTORY
 INTER. TRAJECTORY
01_material
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
02_material ❌ ❌ ❌ 2_km/h ❌ ❌
03_material ❌ ❌ ❌ 2_km/h ❌ ❌
04_material ❌ ❌ ❌ 2_km/h ❌ ❌

⬆️Dataset structure

Type g

asphalt / concrete
Motion Blur OFF

Surface
Image		 LINE TRAJECTORY
 CIRCLE TRAJECTORY
 RECTANGLE TRAJECTORY
 FIG. EIGHT TRAJECTORY
 NON-INTER. TRAJECTORY
 INTER. TRAJECTORY
01_material
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h		 ❌
02_material ❌ ❌ ❌ 2_km/h ❌ ❌
03_material ❌ ❌ ❌ 2_km/h ❌ ❌
04_material ❌ ❌ ❌ 2_km/h ❌ ❌

⬆️Dataset structure

Type h

metal
Motion Blur OFF

Surface
Image		 LINE TRAJECTORY
 CIRCLE TRAJECTORY
 RECTANGLE TRAJECTORY
 FIG. EIGHT TRAJECTORY
 NON-INTER. TRAJECTORY
 INTER. TRAJECTORY
01_material
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h
🔵 2_km/h
🔴 8_km/h
🟢 15_km/h		 ❌
02_material ❌ ❌ ❌ 2_km/h ❌ ❌

⬆️Dataset structure

Relief Surface

..or you can download only specific data

Motion Blur OFF
TRAJECTORY TYPE: FIGURE EIGHT


Surface Type b - gravel / stones d - sand f - street / bricks
Img
2_km/h
2_km/h
2_km/h

⬆️Dataset structure

Motion Blur

MB Type b

gravel / stones
TRAJECTORY TYPE: FIGURE EIGHT

Speed max = 2 km/h Speed max = 8 km/h Speed max = 15 km/h
Motion Blur Amount=0.1 Max=1
2_km/h
8_km/h
15_km/h
Motion Blur Amount=0.1 Max=2
2_km/h
8_km/h
15_km/h

⬆️Dataset structure

MB Type f

street / bricks
TRAJECTORY TYPE: FIGURE EIGHT

Speed max = 2 km/h Speed max = 8 km/h Speed max = 15 km/h
Motion Blur Amount=0.1 Max=1
2_km/h
8_km/h
15_km/h
Motion Blur Amount=0.1 Max=2
2_km/h
8_km/h
15_km/h

⬆️Dataset structure

Credits

Unreal Engine 4: https://www.unrealengine.com/en-US/

Twinmotion Materials for Unreal Engine: https://www.unrealengine.com/marketplace/en-US/product/twinmotion-materials

License

This project is licensed under the MIT License