Both sides previous revision
Previous revision
Next revision
|
Previous revision
Next revision
Both sides next revision
|
data:datasets:visual-inertial-dataset [2018/09/21 13:17] usenko |
data:datasets:visual-inertial-dataset [2020/03/02 18:04] usenko |
| |
== Photometric calibration == | == Photometric calibration == |
{{:data:datasets:vi-dataset:vignettesmoothed.png?300|}} | {{:data:datasets:visual-inertial-dataset:vingette_0.png?300|}} |
{{:data:datasets:vi-dataset:vignettesmoothed.png?300|}} | {{:data:datasets:visual-inertial-dataset:vingette_1.png?300|}} |
| |
All images in the dataset have 16-bit intensity depth and linear response function. Vignetting calibration using the method from [[:data:datasets:mono-dataset | TUM Monocular dataset]] is provided {{ :data:datasets:vi-dataset:vignettecalibresult4.zip | here}}. Vignette (for both resolutions) and photometric response calibration files (which is linear) in the format that DSO expects can be downloaded {{ :data:datasets:visual-inertial-dataset:photometric_calibration.tgz |here}}. We also include vignette calibration datasets (calib-vignette). This makes it possible to repeat the calibration procedure or use alternative tools for vignetting estimation. | All images in the dataset have 16-bit intensity depth and linear response function. Vignetting calibration using the method from [[:data:datasets:mono-dataset | TUM Monocular dataset]] is provided {{ :data:datasets:vi-dataset:vignettecalibresult4.zip | here}}. Vignette (for both resolutions) and photometric response calibration files (which is linear) in the format that DSO expects can be downloaded {{ :data:datasets:visual-inertial-dataset:photometric_calibration.tgz |here}}. We also include vignette calibration datasets (calib-vignette). This makes it possible to repeat the calibration procedure or use alternative tools for vignetting estimation. |
| |
ROVIO is run in a similar configuration to OKVIS (default parameters, synchronous, no real-time enforcement, noise values from Allan plot inflated 10 times for all parameters as determined by a simple parameter search). For your reference we provide the {{ :data:datasets:visual-inertial-dataset:rovio_config_10_10.tar.gz |configuration file we used for ROVIO}}. | ROVIO is run in a similar configuration to OKVIS (default parameters, synchronous, no real-time enforcement, noise values from Allan plot inflated 10 times for all parameters as determined by a simple parameter search). For your reference we provide the {{ :data:datasets:visual-inertial-dataset:rovio_config_10_10.tar.gz |configuration file we used for ROVIO}}. |
| |
| Vins-Mono and [[research:vslam:basalt|Basalt VIO]] are also run using the default parameters. |
| |
| |