Welcome to the Oxford Multimotion Dataset. The data are hosted on Google Drive (no sign-in required) and are accessible from either the web folder or the individual file links below.
Documentation (Return to top)
Full documentation of the dataset is available in the associated RA-L paper . Please cite the dataset as:
Tools (Return to top)
Useful scripts and tools for manipulating the data and evaluating results are provided here.
Calibration (Return to top)
There are two calibrations for the dataset. All of the primary segments and most of the secondary segments with imu data use the same calibration . The secondary segments without imu data use a separate no_imu calibration .
Each calibration consists of three files:
- Camera intrinsics as provided by the camera manufacturer (manufacturer.yaml)
- Camera intrinsics & extrinsics as estimated by Kalibr using the calibration_extrinsic data segment (kalibr.yaml)
- Transform from the camera frame to the Vicon frame as estimated from the calibration_vicon data segment (vicon.yaml)