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gogojjh committed Apr 3, 2024
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<li class="second-level"><a href="#various-platforms">Various Platforms</a></li>

<li class="second-level"><a href="#examples-of-data-collection">Examples of Data Collection</a></li>
<li class="second-level"><a href="#third-view-of-data-collection">Third-View of Data Collection</a></li>

<li class="first-level "><a href="#download">Download</a></li>
<li class="second-level"><a href="#data-organization">Data Organization</a></li>
Expand Down Expand Up @@ -239,7 +239,7 @@ <h3 id="various-platforms">Various Platforms<a class="headerlink" href="#various
<img src="../../figure/dataset/fusionportable/multivehicle.png" width="90%" />
</p>

<h3 id="examples-of-data-collection">Examples of Data Collection<a class="headerlink" href="#examples-of-data-collection" title="Permanent link">&para;</a></h3>
<h3 id="third-view-of-data-collection">Third-View of Data Collection<a class="headerlink" href="#third-view-of-data-collection" title="Permanent link">&para;</a></h3>
<table>
<thead>
<tr>
Expand Down Expand Up @@ -503,8 +503,8 @@ <h4 id="some-high-resolution-gt-maps">Some High-Resolution GT Maps<a class="head
<a href="https://filebrowser.ram-lab.com"><button type="button" class="btn btn-success"><i class="fas fa-cloud-download-alt fa-2x"></i><span style="font-size:15px;"> Download</span></button></a> -->

<h2 id="tools">Tools<a class="headerlink" href="#tools" title="Permanent link">&para;</a></h2>
<p>The dataset tool can be used by clicking the button below</p>
<p><a href="https://github.com/HKUSTGZ-IADC/iadc_dataset_tools"><button class="btn btn-primary" type="submit"><i class="fab fa-github fa-2x"></i> Dataset Tool</button></a></p>
<p>The development tool can be used by clicking the button below</p>
<p><a href="https://github.com/fusionportable/fusionportable_dataset_tools"><button class="btn btn-primary" type="submit"><i class="fab fa-github fa-2x"></i> Development Tools</button></a></p>
<h2 id="evaluation">Evaluation<a class="headerlink" href="#evaluation" title="Permanent link">&para;</a></h2>
<h3 id="evalaution-of-trajectories">Evalaution of Trajectories<a class="headerlink" href="#evalaution-of-trajectories" title="Permanent link">&para;</a></h3>
<p align="center">
Expand All @@ -528,13 +528,13 @@ <h3 id="evalaution-of-trajectories">Evalaution of Trajectories<a class="headerli

<h2 id="issues">Issues<a class="headerlink" href="#issues" title="Permanent link">&para;</a></h2>
<p>If you have any issues with the theme, please report them on the repository:</p>
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<p><a href="https://github.com/fusionportable/fusionportable_dataset_tools/issues"><button class="btn btn-primary" type="submit"><i class="fab fa-github fa-2x"></i> Report Issues</button></a></p>
<h2 id="publications">Publications<a class="headerlink" href="#publications" title="Permanent link">&para;</a></h2>
<ol>
<li><strong>FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms</strong><br/>
<span style="color: gray">Jianhao Jiao*, Hexiang Wei*, Tianshuai Hu*, Xiangcheng Hu*, Yilong Zhu, Zhijian He, Jin Wu, Jingwen Yu, Xupeng Xie, Huaiyang Huang, Ruoyu Geng, Lujia Wang, Ming Liu</span><br/>
<em>Presented at IROS 2022</em><br/>
<a href="../../files/jiao2022fusionportable.pdf">[paper]</a>
<a href="https://arxiv.org/abs/2208.11865">[Arxiv]</a>
<a href="../../bib/jiao2022fusionportable.bib">[bibtex]</a></li>
</ol>
<!-- [[video]]() -->
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<li >
<a href="../../slam/fl2sam/">FL2SAM</a>
<a href="https://github.com/JokerJohn/PALoc">PALoc</a>
</li>


Expand Down Expand Up @@ -181,20 +181,21 @@

<div class="col-md-3"><div class="bs-sidebar hidden-print affix well" role="complementary">
<ul class="nav bs-sidenav">
<li class="first-level active"><a href="#introduction">Introduction</a></li>
<li class="first-level "><a href="#data-collection-platforms">Data Collection Platforms</a></li>
<li class="first-level active"><a href="#overview">Overview</a></li>
<li class="second-level"><a href="#sensors">Sensors</a></li>

<li class="second-level"><a href="#various-platforms">Various Platforms</a></li>

<li class="second-level"><a href="#ground-truth-devices">Ground-Truth Devices</a></li>

<li class="second-level"><a href="#examples-of-data-collection">Examples of Data Collection</a></li>
<li class="second-level"><a href="#third-view-of-data-collection">Third-View of Data Collection</a></li>

<li class="first-level "><a href="#download">Download</a></li>
<li class="second-level"><a href="#data-organization">Data Organization</a></li>
<li class="first-level "><a href="#details">Details</a></li>
<li class="second-level"><a href="#organization">Organization</a></li>

<li class="second-level"><a href="#download_1">Download</a></li>
<li class="second-level"><a href="#trajectories-of-sequences">Trajectories of Sequences</a></li>

<li class="second-level"><a href="#download-sequence">Download Sequence</a></li>

<li class="third-level"><a href="#calibration-sequences">Calibration Sequences</a></li>
<li class="third-level"><a href="#hanheld-sequences">Hanheld Sequences</a></li>
Expand All @@ -203,11 +204,13 @@
<li class="third-level"><a href="#vehicle-sequences">Vehicle Sequences</a></li>
<li class="third-level"><a href="#some-high-resolution-gt-maps">Some High-Resolution GT Maps</a></li>
<li class="first-level "><a href="#experiments">Experiments</a></li>
<li class="second-level"><a href="#calibration">Calibration</a></li>

<li class="second-level"><a href="#localization-evaluation">Localization Evaluation</a></li>

<li class="second-level"><a href="#mapping-evaluation">Mapping Evaluation</a></li>

<li class="second-level"><a href="#unsupervised-monocular-depth-estimation">Unsupervised Monocular Depth Estimation</a></li>
<li class="second-level"><a href="#monocular-depth-estimation">Monocular Depth Estimation</a></li>

<li class="first-level "><a href="#tools">Tools</a></li>
<li class="first-level "><a href="#issues">Issues</a></li>
Expand All @@ -224,8 +227,9 @@ <h4>From Campus to Highway</h4>
<img src="../../figure/dataset/fusionportable/cover.png" width="95%" />
</p> -->

<h2 id="introduction">Introduction<a class="headerlink" href="#introduction" title="Permanent link">&para;</a></h2>
<h2 id="data-collection-platforms">Data Collection Platforms<a class="headerlink" href="#data-collection-platforms" title="Permanent link">&para;</a></h2>
<!-- ## Introduction -->

<h2 id="overview">Overview<a class="headerlink" href="#overview" title="Permanent link">&para;</a></h2>
<h3 id="sensors">Sensors<a class="headerlink" href="#sensors" title="Permanent link">&para;</a></h3>
<ul>
<li><strong>Handheld Sensor</strong>: 128-beam Ouster LiDAR (OS1, 120m range)</li>
Expand All @@ -237,20 +241,20 @@ <h3 id="sensors">Sensors<a class="headerlink" href="#sensors" title="Permanent l
<li><strong>Legged Robot Sensor</strong>: Built-in joint encoders, contact sensors, and IMU of the Unitree A1</li>
</ul>
<p align="center">
<img src="../../figure/dataset/fusionportable_v2/sensor_summary.png" width="95%" />
<img src="../../figure/dataset/fusionportable_v2/sensor_summary.png" width="90%" />
</p>

<h3 id="various-platforms">Various Platforms<a class="headerlink" href="#various-platforms" title="Permanent link">&para;</a></h3>
<p align="center">
<img src="../../figure/dataset/fusionportable_v2/robot_platform_scene.png" width="95%" />
<img src="../../figure/dataset/fusionportable_v2/robot_platform_scene.png" width="90%" />
</p>

<h3 id="ground-truth-devices">Ground-Truth Devices<a class="headerlink" href="#ground-truth-devices" title="Permanent link">&para;</a></h3>
<p align="center">
<img src="../../figure/dataset/fusionportable_v2/groundtruth_device.png" width="95%" />
<img src="../../figure/dataset/fusionportable_v2/groundtruth_device.png" width="90%" />
</p>

<h3 id="examples-of-data-collection">Examples of Data Collection<a class="headerlink" href="#examples-of-data-collection" title="Permanent link">&para;</a></h3>
<h3 id="third-view-of-data-collection">Third-View of Data Collection<a class="headerlink" href="#third-view-of-data-collection" title="Permanent link">&para;</a></h3>
<table>
<thead>
<tr>
Expand All @@ -272,11 +276,11 @@ <h3 id="examples-of-data-collection">Examples of Data Collection<a class="header
</tr>
</tbody>
</table>
<h2 id="download">Download<a class="headerlink" href="#download" title="Permanent link">&para;</a></h2>
<h3 id="data-organization">Data Organization<a class="headerlink" href="#data-organization" title="Permanent link">&para;</a></h3>
<h2 id="details">Details<a class="headerlink" href="#details" title="Permanent link">&para;</a></h2>
<h3 id="organization">Organization<a class="headerlink" href="#organization" title="Permanent link">&para;</a></h3>
<pre>
<p align="left">
<img src="../../figure/dataset/fusionportable_v2/data_organization.png" width="70%" />
<img src="../../figure/dataset/fusionportable_v2/data_organization.png" width="50%" />
</p>
</pre>

Expand Down Expand Up @@ -310,12 +314,21 @@ <h4>Note:</h4>
3. <code>&ltplatform_env&gt.7z</code> compressed rosbag.<br>
</div>

<h3 id="download_1">Download<a class="headerlink" href="#download_1" title="Permanent link">&para;</a></h3>
<h3 id="trajectories-of-sequences">Trajectories of Sequences<a class="headerlink" href="#trajectories-of-sequences" title="Permanent link">&para;</a></h3>
<p align="center">
<img src="../../figure/dataset/fusionportable_v2/sequence_traj_ugv.png" width="90%" />
</p>

<p align="center">
<img src="../../figure/dataset/fusionportable_v2/sequence_traj_vehicle.png" width="90%" />
</p>

<h3 id="download-sequence">Download Sequence<a class="headerlink" href="#download-sequence" title="Permanent link">&para;</a></h3>
<div class="bs-callout bs-callout-info">
<h4>Please click these below links to download:</h4>
1. <a href="https://drive.google.com/drive/folders/1PYhnf3PlY5r0hbyzWDGTUTPxRMl6SYa-?usp=sharing">Link to Google Drive</a>
<br>
2. <a href="https://drive.google.com/drive/folders/1PYhnf3PlY5r0hbyzWDGTUTPxRMl6SYa-?usp=sharing">Link to Baidu Pan</a>
2. <a href="">Link to Baidu Pan (unavailabel now) </a>
<br>
<p>Note: extract compressed ROSBag in the terminal: <code>7z l &ltplatform_env&gt.7z</code></p>
</div>
Expand Down Expand Up @@ -396,12 +409,13 @@ <h4 id="some-high-resolution-gt-maps">Some High-Resolution GT Maps<a class="head
<a href="https://filebrowser.ram-lab.com"><button type="button" class="btn btn-success"><i class="fas fa-cloud-download-alt fa-2x"></i><span style="font-size:15px;"> Download</span></button></a> -->

<h2 id="experiments">Experiments<a class="headerlink" href="#experiments" title="Permanent link">&para;</a></h2>
<h3 id="calibration">Calibration<a class="headerlink" href="#calibration" title="Permanent link">&para;</a></h3>
<h3 id="localization-evaluation">Localization Evaluation<a class="headerlink" href="#localization-evaluation" title="Permanent link">&para;</a></h3>
<h3 id="mapping-evaluation">Mapping Evaluation<a class="headerlink" href="#mapping-evaluation" title="Permanent link">&para;</a></h3>
<h3 id="unsupervised-monocular-depth-estimation">Unsupervised Monocular Depth Estimation<a class="headerlink" href="#unsupervised-monocular-depth-estimation" title="Permanent link">&para;</a></h3>
<h3 id="monocular-depth-estimation">Monocular Depth Estimation<a class="headerlink" href="#monocular-depth-estimation" title="Permanent link">&para;</a></h3>
<h2 id="tools">Tools<a class="headerlink" href="#tools" title="Permanent link">&para;</a></h2>
<p>The dataset tool can be used by clicking the button below</p>
<p><a href="https://github.com/HKUSTGZ-IADC/iadc_dataset_tools"><button class="btn btn-primary" type="submit"><i class="fab fa-github fa-2x"></i> Dataset Tool</button></a></p>
<p>The development tool can be used by clicking the button below</p>
<p><a href="https://github.com/fusionportable/fusionportable_dataset_tools"><button class="btn btn-primary" type="submit"><i class="fab fa-github fa-2x"></i> Development Tools</button></a></p>
<!-- ## Evaluation
### Evalaution of Trajectories
Expand All @@ -422,15 +436,18 @@ <h2 id="tools">Tools<a class="headerlink" href="#tools" title="Permanent link">&

<h2 id="issues">Issues<a class="headerlink" href="#issues" title="Permanent link">&para;</a></h2>
<p>If you have any issues with the theme, please report them on the repository:</p>
<p><a href="https://github.com/HKUSTGZ-IADC/iadc_dataset_tools/issues"><button class="btn btn-primary" type="submit"><i class="fab fa-github fa-2x"></i> Report Issues</button></a></p>
<p><a href="https://github.com/fusionportable/fusionportable_dataset_tools/issues"><button class="btn btn-primary" type="submit"><i class="fab fa-github fa-2x"></i> Report Issues</button></a></p>
<h2 id="publications">Publications<a class="headerlink" href="#publications" title="Permanent link">&para;</a></h2>
<!-- 1. **FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms**<br/>
<span style="color: gray">Jianhao Jiao\*, Hexiang Wei\*, Tianshuai Hu\*, Xiangcheng Hu\*, Yilong Zhu, Zhijian He, Jin Wu, Jingwen Yu, Xupeng Xie, Huaiyang Huang, Ruoyu Geng, Lujia Wang, Ming Liu</span><br/>
*Presented at IROS 2022*<br/>
[[paper]](../../files/jiao2022fusionportable.pdf)
[[bibtex]](bib/jiao2022fusionportable.bib) -->
<ol>
<li><strong>FusionPortableV2: </strong><br/>
<span style="color: gray">Hexiang Wei*, Jianhao Jiao*, Xiangcheng Hu, Jingwen Yu, Xupeng Xie, Jin Wu, Yilong Zhu, Yuxuan Liu, Lujia Wang, Ming Liu</span><br/>
<em>Under Review</em><br/>
<a href="../../files/jiao2022fusionportable.pdf">[Arxiv]</a></li>
</ol>
<!-- [[bibtex]](bib/jiao2022fusionportable.bib) -->
<!-- [[video]]() -->
<!-- [[page]](https://ram-lab.com/file/site/multi-sensor-dataset) -->
<!-- [[page]](https://ram-lab.com/file/site/multi-sensor-dataset)
<!-- [preview](../../figure/dataset/fusionportable_v2/preview/20221202_hkustgz_campus_day_preview.gif) --></div>

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14 changes: 7 additions & 7 deletions index.html
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<li >
<a href="slam/fl2sam/">FL2SAM</a>
<a href="https://github.com/JokerJohn/PALoc">PALoc</a>
</li>


Expand Down Expand Up @@ -198,24 +198,24 @@ <h2>FusionPortable Research Dashboard</h2>
<!-- ## Overview -->
<h3 id="calibration">Calibration<a class="headerlink" href="#calibration" title="Permanent link">&para;</a></h3>
<ol>
<li><a href="calibration/pbacalib/">PBACalib: Targetless LiDAR-Camera Extrinsic Calibration</a></li>
<li><a href="calibration/lcecalib/">LCECalib: Target-Based LiDAR-Frame/Event Camera Extrinsic Calibration</a></li>
<li><a href="calibration/pbacalib/">PBACalib: Targetless LiDAR-Camera Extrinsic Calibration</a>, <strong>IEEE TMech 2023</strong></li>
<li><a href="calibration/lcecalib/">LCECalib: Target-Based LiDAR-Frame/Event Camera Extrinsic Calibration</a>, <strong>IEEE RAL 2023</strong></li>
</ol>
<h3 id="slam">SLAM<a class="headerlink" href="#slam" title="Permanent link">&para;</a></h3>
<ol>
<li>[]</li>
<li><a href="https://github.com/JokerJohn/PALoc">PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation</a>, <strong>IEEE TMech 2024</strong></li>
</ol>
<h3 id="perception">Perception<a class="headerlink" href="#perception" title="Permanent link">&para;</a></h3>
<ol>
<li><a href="https://github.com/Owen-Liuyuxuan/FSNet">FSNet: Full-Scale Unsupervised Monocular Depth Prediction</a></li>
<li><a href="https://github.com/Owen-Liuyuxuan/FSNet">FSNet: Full-Scale Unsupervised Monocular Depth Prediction</a>, <strong>IEEE TASE 2023</strong></li>
</ol>
<h3 id="mapping">Mapping<a class="headerlink" href="#mapping" title="Permanent link">&para;</a></h3>
<ol>
<li><a href="https://github.com/HKUSTGZ-IADC/cobra">Cobra: Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments</a></li>
</ol>
<h3 id="datasets">Datasets<a class="headerlink" href="#datasets" title="Permanent link">&para;</a></h3>
<ol>
<li><a href="dataset/fusionportable/">FusionPortable: Multi-Sensor Campus-Scene Dataset on Diverse Platforms</a></li>
<li><a href="dataset/fusionportable/">FusionPortable: Multi-Sensor Campus-Scene Dataset on Diverse Platforms</a>, <strong>IEEE IROS 2022</strong></li>
<li><a href="dataset/fusionportable_v2/">FusionPortableV2: A Multi-Sensor, Multi-Scale Dataset Beyond Evaluation of Localization and Mapping Accuracy on Diverse Platforms</a></li>
</ol>
<h2 id="license">License<a class="headerlink" href="#license" title="Permanent link">&para;</a></h2>
Expand Down Expand Up @@ -327,5 +327,5 @@ <h4 class="modal-title" id="keyboardModalLabel">Keyboard Shortcuts</h4>

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