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40 results for “visual localization”
Interactive maps for the visualization of ESRIUM automated driving tests with various EGNSS localization solutions
<p>In order to make the test results available to a broader audience in an easy manner, we have generated interactive maps. These maps are attached to this report and can be viewed in a web-browser. </p><p>Due to the large number of datasets, we have color-coded them on the map and in the menu. An arbitrary number of datasets can be selected at a time.</p><p>Due to the high accuracy of the EGNSS receivers, one can clearly identify the lane on which the vehicle was driving, and where the vehicle was performing a lane-change. However, the satellite/areal-images are not perfectly geo-referenced, thus one can notice a slight offset between satellite/areal-images and real-world lanes.</p><p> </p><p><strong>How to use the map?</strong></p><ul><li>The map can be used in a similar manner than other map-applications, such as google maps. By using the mouse, you can set the focus on the area of your interest. By using the +/- buttons (top left), you can zoom in/out.</li><li>By hovering over the layer-symbol (top right), a popup emerges. Here, you can select different background-tiles (such as satellite/areal-images). In addition, you can select different datasets which should be visualized on the map.</li></ul><p><strong>Background-tiles:</strong></p><ul><li>Basemap – Sat - Satellite/Areal images (from Basemap) -Symbolic map with high resolution (from Basemap)</li><li>Basemap – HighDPI Symbolic map with high resolution (from Basemap)</li><li>OpenStreetMap - Symbolic map (from OpenStreetMap)</li><li>OpenTopoMap - Symbolic map including topology information (from OpenTopoMap)</li></ul><p><strong>Datasets:</strong></p><ul><li>GNSS (Vehicle) - Position of vehicle, according to on-board GPS receiver</li><li>EGNSS (AsteRx SB3 Pro+) - Position of vehicle, according to AsteRx SB3 Pro+ receiver</li><li>EGNSS (mosaic-X5) - Position of vehicle, according to mosaic-X5 receiver</li><li>EGNSS (mosaic-H) - Position of vehicle, according to mosaic-H receiver</li><li>PVT Mode: EGNSS (AsteRx SB3 Pro+) - PVT Mode of AsteRx SB3 Pro+ receiver</li><li>PVT Mode: EGNSS (mosaic-X5) - PVT Mode of mosaic-X5 receiver</li><li>PVT Mode: EGNSS (mosaic-H) - PVT Mode of mosaic-H receiver</li><li>in-lane Offset Change-Request - Position, at which an in-lane offset change (relative to middle of the current lane) was requested via C-ITS</li><li>Lane Change to left - Position, at which a lane-change towards left was performed </li><li>Lane Change to right - Position, at which a lane-change towards right was performed</li></ul><p>Interactive maps are attached are two precision levels one with 4 and the other in 7 digits. The list files and the corresponding test conditions are listed below. </p><p>Test velocities [km/h]: 90, 110, 130 </p><p>interactive map files: </p><p>speed: 90 km/h</p><ul><li>Testrun_01.html</li><li>Testrun_03.html</li><li>Testrun_04.html</li></ul><p>speed: 110 km/h</p><ul><li>Testrun_05.html</li><li>Testrun_06.html</li><li>Testrun_07.html</li></ul><p>speed: 130 km/h </p><ul><li>Testrun_08.html</li><li>Testrun_09.html</li><li>Testrun_10.html</li></ul>
SubPipe: A Submarine Pipeline Inspection Dataset for Segmentation and Visual-inertial Localization
<h1><strong>Abstract</strong></h1> <p>This paper presents SubPipe, an underwater dataset for SLAM, object detection, and image segmentation. <br><br>SubPipe has been recorded using a lightweight autonomous underwater vehicle (LAUV), operated by OceanScan MST, and carrying a sensor suite including two cameras, a side-scan sonar, and an inertial navigation system, among other sensors. The AUV has been deployed in a pipeline inspection environment with a submarine pipe partially covered by sand. The AUV's pose ground truth is estimated from the navigation sensors. The side-scan sonar and RGB images include object detection and segmentation annotations, respectively. State-of-the-art segmentation, object detection, and SLAM methods are benchmarked on SubPipe to demonstrate the dataset's challenges and opportunities for leveraging computer vision algorithms.<br>To the authors' knowledge, this is the first annotated underwater dataset providing a real pipeline inspection scenario. The dataset and experiments are publicly available <a href="https://github.com/remaro-network/SubPipe-dataset">online.</a></p> <p>On Zenodo we provide <em>three</em> versions for SubPipe. One is the full version (<strong>SubPipe.zip</strong>, ~80GB unzipped) and two subsamples: <strong>SubPipeMini.zip</strong>, ~12GB unzipped and <strong>SubPipeMini2.zip</strong>, ~16GB unzipped. Both subsamples are only parts of the entire dataset (SubPipe.zip). SubPipeMini is a subset, containing semantic segmentation data, and it has interesting camera data of the underwater pipeline. On the other hand, SubPipeMini2 is mainly focused on underwater side-scan sonar images of the seabed including ground truth object detection bounding boxes of the pipeline.</p> <p><strong>For (re-)using/publishing SubPipe, please include the following copyright text:</strong></p> <p><em><strong>SubPipe</strong> is a public dataset of a submarine outfall pipeline, property of Oceanscan-MST. This dataset was acquired with a Light Autonomous Underwater Vehicle by Oceanscan-MST, within the scope of Challenge Camp 1 of the</em> <em>H2020 </em><a href="https://remaro.eu/"><em>REMARO</em></a><em> project.</em></p> <p><em>More information about OceanScan-MST can be found at </em><a href="https://www.oceanscan-mst.com/"><em>this link</em></a><em>.</em></p> <h1><strong>Cam0 — GoPro Hero 10</strong></h1> <h4>Camera parameters:</h4> <ul> <li>Resolution: 1520×2704</li> <li>fx = 1612.36</li> <li>fy = 1622.56</li> <li>cx = 1365.43</li> <li>cy = 741.27</li> <li>k1,k2, p1, p2 = [−0.247, 0.0869, −0.006, 0.001]</li> </ul> <h1><strong>Side-scan Sonars</strong></h1> <p>Each sonar image was created after 20 “ping” (after every 20 new lines) which corresponds to approx. ~1 image / second.</p> <p>Regarding the object detection annotations, we provide both COCO and YOLO formats for each annotation. A single COCO annotation file is provided per each chunk and per each frequency (low frequency vs. high frequency), whereas the YOLO annotations are provided for each SSS image file.</p> <p>Metadata about the side-scan sonar images contained in this dataset:</p> <table> <tbody> <tr> <td><strong>Images for object detection</strong></td> <td> </td> </tr> <tr> <td># Low Frequency (LF):</td> <td> 5000</td> </tr> <tr> <td>LF image size:</td> <td>2500 × 500</td> </tr> <tr> <td># High Frequency (HF):</td> <td> 5030</td> </tr> <tr> <td>HF Image size</td> <td>5000 × 500</td> </tr> <tr> <td><strong>Total number of images:</strong></td> <td>10030</td> </tr> <tr> <td><strong>Annotations</strong><strong><br></strong></td> <td> </td> </tr> <tr> <td># Low Frequency:</td> <td> 3163</td> </tr> <tr> <td># High Frequency:</td> <td> 3172</td> </tr> <tr> <td><strong>Total number of annotations:</strong></td> <td><strong> </strong>6335</td> </tr> </tbody> </table>
TBPos: Dataset for Large-Scale Precision Visual Localization (database files)
<p>Large-scale dataset for visual localization, provided in the format of the well-known InLoc dataset (Taira et al, 2018). Contains co-registered RGB point clouds and a script for generating the rest of the 'database' files for visual localization by the InLoc algorithm. Note: query images are provided in a separate repository.</p>
Figure 17 Periglischrus torrealbai, female. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 17 Periglischrus torrealbai, female. A – General view; B – Mediodistal lobe of palpal tibia indicated in red arrow; C – Dorsal plate with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; D – Dorsal opisthosoma with hysteronotal setae (Op3–Op6) indicated
Figure 13 Periglischrus iheringi, protonymph. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 13 Periglischrus iheringi, protonymph. A – General view; B – Dorsal view; C – Ventral view; D – Ventral setae on legs I and II with details; E – Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I withpv anddvsetae, indicated; H – Femur–tibia I with proximal adsetae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpdsetae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximal adandpd on tarsus IV, indicated. Scale bars: A = 200 µm, B–D = 100 µm, E–N = 50 µm.
Figure 10 Periglischrus herrerai, protonymph. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 10 Periglischrus herrerai, protonymph. A – General view; B – Dorsal view; C – Ventral view; D – Ventral setae on legs I and II with details; E – Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I withpv anddvsetae, indicated; H – Femur–tibia I with proximal adsetae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpdsetae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximal adandpd on tarsus IV, indicated. Scale bars: A–N = 50 µm.
Figure 9 Periglischrus herrerai, male. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 9 Periglischrus herrerai, male. A – General view; B – Dorsal view with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; C – Ventral view with sternogenital setaeSt(1–St4) and genital seta (Sg) indicated; D – Ventral setae on legs I and II with details; E Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I with pv anddvsetae, indicated in red arrow; H – Femur–tibia I with proximal adsetae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpdsetae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximal adandpd on tarsus IV, indicated. Scale bars: A =200 µm, B–C, E–M = 50 µm, D and N = 100 µm.
Figure 7 Periglischrus caligus, male. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 7 Periglischrus caligus, male. A – General view; B – Dorsal view with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; C – Ventral view with sternogenital setaeSt(1–St4) and genital seta (Sg) indicated; D – Ventral setae on legs I and II with details; E Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I with pv anddvsetae, indicated in red arrow; H – Femur–tibia I with proximal adsetae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpdsetae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximal adandpd on tarsus IV, indicated. Scale bars: A =200 µm, B, C, E–N = 50 µm, D = 100 µm.
Figure 6 Periglischrus caligus, female. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 6 Periglischrus caligus, female. A – General view; B – Mediodistal lobe of palpal tibia indicated in red arrow; C – dorsal plate
Figure 5 Periglischrus acustisternus, protonymph. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 5 Periglischrus acustisternus, protonymph. A – General view; B – Dorsal view; C – Ventral view; D – Ventral setae on legs I and II with details; E – Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I withpv anddvsetae, indicated; H – Femur–tibia I with proximal ad setae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpd setae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximaladandpd on tarsus IV, indicated. Scale bars: A = 200 µm, C–N = 50 µm, B = 100 µm.
Figure 19 Periglischrus torrealbai, protonymph. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 19 Periglischrus torrealbai, protonymph. A – General view; B – Dorsal view; C – Ventral view; D – Ventral setae on legs I and II with details; E – Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I withpv anddvsetae, indicated; H – Femur–tibia I with proximal adsetae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpdsetae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximal adandpd on tarsus IV, indicated. Scale bars: A = 200 µm, B–D = 100 µm, E–N = 50 µm.
Figure 4 Periglischrus acustisternus, male. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 4 Periglischrus acustisternus, male. A – General view; B – Dorsal view with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; C – Ventral view with sternogenital setaeSt(1–St4) and genital seta (Sg) indicated; D – Ventral setae on legs I and II with details;
Figure 8 Periglischrus caligus, protonymph. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 8 Periglischrus caligus, protonymph. A – General view; B – Dorsal view; C – Ventral view; D – Ventral setae on legs I and II with details; E – Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I withpv anddvsetae, indicated; H – Femur–tibia I with proximal adsetae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpdsetae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximal adandpd on tarsus IV, indicated. Scale bars: A =200 µm, B–N = 50 µm.
Figure 3 Periglischrus acustisternus, female. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 3 Periglischrus acustisternus, female. A – General view; B – Mediodistal lobe of palpal tibia indicated in red arrow; C – Dorsal plate with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; D – Dorsal opisthosoma with hysteronotal setae Op3–Op6) indicated in red arrow; E and F – Sternal plate with sternal setaeSt1(–St4); G – Proximal anterodorsal (ad) seta on femur–tibia I; H – Distal posteroventral (pv) seta on femur–genu I (finely serrated) and tibia–tarsus I (blunt and peglike), indicated in red arrow; I – Proximal antero (ad) and posterodorsalpd () setae on tibia II; J – Proximaladandpd setae on femur II; K – Distal pv setae on femur II (finely serrated) and genu–tarsus II (blunt and peglike), indicated in red arrow; L – Proximaladandpd setae on femur IV; M and N – Posterolateral (pl) setae on femur–tibia IV with details, indicated in red arrow. Scale bars: A = 200 µm, B–C, F, H, J, K–N = 50 µm, D = 50 µm, E, G, I = 100 µm.
Figure 12 Periglischrus iheringi, male. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 12 Periglischrus iheringi, male. A – General view; B – Dorsal view with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; C – Ventral view with sternogenital setaeSt(1–St4) and genital seta (Sg) indicated; D – Ventral setae on legs I and II with details; E Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I with pv anddvsetae, indicated in red arrow; H – Femur–tibia I with proximal adsetae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpdsetae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximal adandpd on tarsus IV, indicated. Scale bars: A = 200 µm, B–D = 100 µm, E–N = 50 µm.
Figure 16 Periglischrus paravargasi, protonymph. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 16 Periglischrus paravargasi, protonymph. A – General view; B – Dorsal view; C – Ventral view; D – Ventral setae on legs I and II with details; E – Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I withpv anddvsetae, indicated; H – Femur–tibia I with proximal ad setae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpd setae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximaladandpd on tarsus IV, indicated. Scale bars: A = 200 µm, B–D = 100 µm, C, E–N = 50 µm.
Figure 2 in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 2 Mitochondrial COI haplotype ultrametric tree inferred in BEAST using strict clock and species delimitation probabilities obtained in bGMYC.
Figure 18 Periglischrus torrealbai, male. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 18 Periglischrus torrealbai, male. A – General view; B – Dorsal view with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; C – Ventral view with sternogenital setaeSt(1–St4) and genital seta (Sg) indicated; D – Ventral setae on legs I and II with details; E Details ventral setae on leg I; F – Details ventral setae on leg II; G – Coxa I with pv anddvsetae, indicated in red arrow; H – Femur–tibia I with proximal adsetae, indicated; I – Coxa II with posterolateral setapl () indicated; J – Femur II, proximaladandpdsetae, indicated; K – Proximal adandpd on tarsus III, indicated; L – Femur IV, proximaladandpd setae, indicated; M – Genu IV, proximaladandpd setae, indicated; N – Proximal adandpd on tarsus IV, indicated. Scale bars: A = 200 µm, B–D =100 µm, E–N = 50 µm.
Figure 11 Periglischrus iheringi, female. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 11 Periglischrus iheringi, female. A – General view; B – Mediodistal lobe of palpal tibia indicated in red arrow; C – Dorsal plate with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; D – Dorsal opisthosoma with hysteronotal setae (Op3–Op6) indicated in red arrow; E and F – Sternal plate with sternal setae (St1–St4); G – Proximal anterodorsal (ad) seta on femur–tibia I; H – Distal posteroventral (pv)
Figure 14 Periglischrus paravargasi, female. A in DNA barcoding, visual-guide resource, new localities and host associations of genus Periglischrus Oudemans, 1902 (Acari: Mesostigmata, Spinturnicidae) from Minas Gerais, Brazil
Figure 14 Periglischrus paravargasi, female. A – General view; B – Mediodistal lobe of palpal tibia indicated in red arrow; C – Dorsal plate with proteronotal setae (Pn1–Pn5) and poststigmal seta (Pst) indicated; D – Dorsal opisthosoma with hysteronotal setae (Op1–Op6) indicated
ScienceDex guides
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These curated guides explain access requirements, typical timelines, costs, and reuse considerations for widely used research datasets.
Allen Brain Atlas
Allen Brain Atlas is an Allen Institute collection of brain map atlases, datasets, APIs, and analysis tools covering mouse, human, and non-human primate brain resources.
Annotated Behaviour and Observability Dataset (ABODe)
ABODe is a University of Edinburgh DataShare dataset for behavior classification in group-housed mice using home-cage video, identities, bounding boxes, ground-plate positions, and annotator labels.
DANDI Archive for NWB datasets
DANDI is a BRAIN Initiative archive for publishing and sharing neurophysiology data, including electrophysiology, optophysiology, and behavioral data packaged as NWB and related standards.
International Brain Laboratory public data
The International Brain Laboratory public data releases expose standardized mouse decision-making experiments, including Neuropixels recordings, widefield calcium imaging, behavior, and session metadata accessed through the ONE API.
OpenNeuro
OpenNeuro is a free, open platform for sharing neuroimaging datasets, with public search, dataset pages, and download paths for web, S3, DataLad, and the OpenNeuro CLI.