Computer Vision
Published May 7, 2015 | Version v1
Dataset Open

CROOS-CV

Creators

  • 1. ROR icon Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)

Description

This dataset is intended to support and benchmark Computer Vision (CV) development for Close Range On-Orbit Servicing (CROOS). It is an representative image dataset for CROOS operations with distances of 2 m between servicer and client satellite that was recorded under illumination conditions similar to a Low Earth Orbit.

A training set with 180 trajectories and a test set with 810 trajectories are provided. Both were recorded with an industrial robot and with three different sun incidence angles and multiple shutter times. A trajectory consists of stereo image pairs along with the ground truth pose of the cameras. Additionally, a 3D model of the client and all calibration data is provided with the dataset.

The training set contains images recorded with shutter times specifically chosen to match the illumination situation in our recording setup as good as possible. It is intended to be used for algorithm development, to observe challenges for computer vision algorithms and for parameter optimization as shown in the application example in OUR PAPER. In contrast, the test set is intended to be used for performance analysis only and shall not be used to tune parameters. It contains more different illumination conditions and some random brightness changes in the images.

Project page: https://rm.dlr.de/croos-cv

Notes 

Please cite the following paper (in elib.dlr.de) if you use the CROOS-CV dataset:

@INPROCEEDINGS{lingenauber2015dataset,
  title = {{A} dataset to support and benchmark computer vision development
    for close range on-orbit servicing},
  author = {{L}ingenauber, {M}artin and {K}riegel, {S}imon and {K}a{\ss}ecker,
    {M}ichael and {P}anin, {G}iorgio},
  booktitle = {{ASTRA} 2015 - 13th Symposium on {A}dvanced {S}pace {T}echnologies in {R}obotics
    and {A}utomation},
  year = {2015}
}

Files

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Additional details

References

  • A dataset to support and benchmark computer vision development for close range on-orbit servicing