MARViN: Mobile AR Dataset with Visual-Inertial Data

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MARViN: Mobile AR Dataset with Visual-Inertial Data
Changkun Liu*, Yukun Zhao* and Tristan Braud
* equal contribution
The Hong Kong University of Science and Technology
Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), 2024

You can download the MARViN dataset link.

MARViN
├── atrium
│   ├── seqxx
│        ├── image.jpg
│        ├── ARKit/ARCore.txt
│        ├── GyroscopeData.txt
│        ├── GPSData.txt
│        ├── AccelerometerData.txt
│        ├── MagnetometerData.txt
│   ├── test.txt
│   └── train.txt
├── ....
│
└── stairs
│   ├── seqxx
│        ├── image.jpg
│        ├── ARKit/ARCore.txt
│        ├── GyroscopeData.txt
│        ├── AccelerometerData.txt
│        ├── MagnetometerData.txt
│   ├── test.txt
│   └── train.txt

Note that due to the low gps accuracy of indoor scenes, we do not provide gps data in the seqs of indoor scenes.

Pose Format

We provide txt poses files. For test/train.txt poses files: image_name x y z qw qx qy qz.

x, y, z are camera to world coordinates. 6DoF poses in test/train.txt follow the COLMAP coordinate system.

For ARKit/ARCore.txt poses files: image_name x y z qw qx qy qz.

x, y, z are camera to world coordinates. 6DoF poses in ARKit/ARCore.txt follow the Unity coordinate system.

Unity -> COLMAP: y -> -y, qy -> -qy

Sensor Data Format

We provide txt sensor data files, which include gyroscope, GPS, accelerometer and magnetometer data respectively.

• Gyroscope data

  For GyroscopeData.txt files:

  image_name qw qx qy qz

  The quaternion follows the Unity coordinate system and represents the device's orientation.

• GPS data

  For GPSData.txt files:

  image_name x y z

  x, y, z are latitude, longitude and altitude respectively.

• Accelerometer data

  For AccelerometerData.txt files:

  image_name x y z

  x y z are last measured linear acceleration of a device in three-dimensional space following the Unity coordinate system.

• Magnetometer data

  For MagnetometerData.txt files:

  image_name trueHeading

  trueHeading is the heading in degrees relative to the geographic North Pole.

Data Capture App based on Unity

Our Data Capture App is opensource, please cite this paper and star this repo if you find our dataset or data capture app is helpful. Thanks!

Citation

@inproceedings{liu2024marvin,
  title={MARViN: Mobile AR Dataset with Visual-Inertial Data},
  author={Liu, Changkun and Zhao, Yukun and Braud, Tristan},
  booktitle={2024 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)},
  pages={532--538},
  year={2024},
  organization={IEEE}
}}