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This dataset contains the synthetic and real data used in the article " Virtual Training for a Real Application: Accurate Object-Robot Relative Localization Without Calibration " to train 3 convolutional neural networks (CNNs) in order to perform uncalibrated relative localization of a cuboid block with respect to a robot, and to evaluate them.
\n\nIt consists of a dataset composed of synthetic pictures for training the CNNs and a dataset of real pictures for evaluation.
\n\nThe "synthetic" dataset is composed 3 sub-datasets (each of them composed of thousands of synthetic pictures and corresponding groundtruth) for training :
\n\nThese sub-datasets are composed of raw data as well as post-treated data ready to be used for training CNNs, in CSV format and in Torch format (.t7).
\n\nThe "real" dataset is composed of real pictures with a precisely localized cuboid block for evaluation only : UnLoc_real (~2.5 GB when extracted).
\n\nMore information available on the project page : http://imagine.enpc.fr/~loingvi/unloc/
", "languages": [ { "id": "eng", "title": { "en": "English" } } ], "publication_date": "2019-02-12", "publisher": "Zenodo", "references": [ { "reference": "Loing et al. (2018). Dataset associated to arXiv:1902.02711" } ], "related_identifiers": [ { "identifier": "10.1007/s11263-018-1102-6", "relation_type": { "id": "issupplementedby", "title": { "de": "Wird erg\u00e4nzt durch", "en": "Is supplemented by" } }, "scheme": "doi" } ], "resource_type": { "id": "dataset", "title": { "de": "Datensatz", "en": "Dataset" } }, "rights": [ { "description": { "en": "The Creative Commons Attribution license allows re-distribution and re-use of a licensed work on the condition that the creator is appropriately credited." }, "icon": "cc-by-icon", "id": "cc-by-4.0", "props": { "scheme": "spdx", "url": "https://creativecommons.org/licenses/by/4.0/legalcode" }, "title": { "en": "Creative Commons Attribution 4.0 International" } } ], "subjects": [ { "subject": "uncalibrated relative localization" }, { "subject": "pose estimation" }, { "subject": "synthetic data" }, { "subject": "virtual training" }, { "subject": "robotics" } ], "title": "UnLoc dataset (Synthetic + Real)", "version": "1.0.0" }, "parent": { "access": { "owned_by": { "user": 60628 } }, "communities": {}, "id": "2563621", "pids": { "doi": { "client": "datacite", "identifier": "10.5281/zenodo.2563621", "provider": "datacite" } } }, "pids": { "doi": { "client": "datacite", "identifier": "10.5281/zenodo.2563622", "provider": "datacite" }, "oai": { "identifier": "oai:zenodo.org:2563622", "provider": "oai" } }, "revision_id": 5, "stats": { "all_versions": { "data_volume": 466746541146.0, "downloads": 59, "unique_downloads": 34, "unique_views": 250, "views": 278 }, "this_version": { "data_volume": 466746541146.0, "downloads": 59, "unique_downloads": 34, "unique_views": 249, "views": 277 } }, "status": "published", "updated": "2020-01-24T19:25:08.321763+00:00", "versions": { "index": 1, "is_latest": true } }