4Seasons Tools

This repository provides a collection of tools for the 4Seasons dataset. Furthermore, evaluation scripts are provided to benchmark visual odometry, re-localization tracking, and place recognition approaches based on the dataset.

Dependencies

libartipy

Most of the scripts are depended on the libartipy library provided in the submodules directory.

Tools

As set of useful tools is provided in the tools directory

• Pose accuracy: pose_accuracy.py

• Frame-wise globally consistent pose interpolation: framewise_gnss_poses.py

Evaluation

Visual Odometry

Re-localization Tracking

Place Recognition

TODOs

• we still need to add the transformation between rectified and non-rectified camera frame, since GT is defined with respect to the rectified left camera.