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

0. Illustration and Decryption

1. Directory Tree

2. Flat Surface

   • Type a wood
   • Type b gravel
   • Type c grass
   • Type d sand
   • Type e mud
   • Type f street
   • Type g concrete
   • Type h metal

3. Relief Surface

4. Motion Blur

   • Type b gravel
   • Type f street

5. 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