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Stereo Visual Dataset

Factor graphs for stereo visual Bundle Adjustment experiments, built from KITTI odometry sequences. Ground-truth trajectories are stored in TUM format under gt/.

Folder Structure

stereo_visual/
├── gt/                  # Ground-truth trajectories (TUM format)
│   ├── 00.tum
│   ├── ...
│   └── 10.tum
├── multirobot/          # Multi-robot Bundle Adjustment datasets
│   ├── 00.g2o
│   ├── ...
│   └── 10.g2o
└── rolling_shutter/     # Rolling shutter simulation datasets
    ├── kitti_06_0.g2o
    ├── kitti_06_0.0001.g2o
    ├── kitti_06_0.001.g2o
    ├── kitti_06_0.01.g2o
    └── kitti_06_0.1.g2o

multirobot/

G2O files produced by running ORB-SLAM on KITTI odometry sequences. Each file contains the initial pose estimates, stereo landmark observations, and camera parameters for the full sequence. The trajectory can be split across any number of robots at runtime via the num_robots argument of stereo_visual.

rolling_shutter/

G2O files for KITTI sequence 06 with a simulated rolling shutter effect. The suffix in each filename is the readout time (in seconds): the time elapsed between the exposure of the first and last row of the image sensor. A readout time of 0 corresponds to a global shutter (no distortion). The values used correspond to those evaluated in the paper.

File Readout time
kitti_06_0.g2o 0 s (global shutter)
kitti_06_0.0001.g2o 0.0001 s
kitti_06_0.001.g2o 0.001 s
kitti_06_0.01.g2o 0.01 s
kitti_06_0.1.g2o 0.1 s