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The UTIAS In the Dark and Multiseason datasets contain 159,549 stereo image pairs collected at the University of Toronto Institute for Aerospace Studies. In both experiments, a closed loop path was manually driven to create a Teach run then the robot autonomously re-traversed the path at staggered time intervals creating Repeat runs. Stereo keyframes were captured approximately every 0.2 metres with all keyframes accurately localized back to the Teach run. Relative transforms for each stereo pair are provided in human-readable text files. A set of Python tools is provided to work with the data. As few or as many repeat runs as desired can be downloaded. Potential uses for these datasets include research in deep visual localization, deep visual odometry, all-weather localization, and experience-based localization. They may also be useful for work on dense stereo reconstruction, simultaneous localization and mapping, robust image mapping, or saliency detection. See Related Work for more past uses.
The UTIAS In the Dark dataset is a collection of 39 runs of a 260 metre path that were collected approximately once an hour over 30 hours. Headlights were used to continue traversal at night. This provides a full cycle of daily lighting conditions that may be used for comparison. Challenges include high sun glare as well as varying shadows occurring at dusk and dawn. The scenery is a mix of buildings, fencing, roads, and off-road vegetation. In this dataset, low-grade GPS data is provided as an extra for 23 of the 39 runs.
To work with a dataset, start by downloading the Teach run, run_000000, and as many repeat runs as desired. Keyframes in the Teach run have been localized to the following Teach run keyframe via visual odometry. All repeat run keyframes are localized back to the Teach run via visual localization. The relative transformation between any two vertices in the dataset can be found by chaining poses through the Teach run. Note: transforms between topologically near vertices in the pose graph can be considered very accurate, but transformations between distant vertices should not be relied upon. The figure below illustrates the pose graph form with dots representing vertices and arrows representing transformations. The first number in the vertex ID tuple indicates the run number while the second number indicates the pose within the run.
This section provides individual zip files for each run containing the stereo images and text files for the transformations, timestamps, and GPS measurements if available. A Python downloader script has also been provided to aid in downloading large portions of the datasets. A video preview is provided for each run to quickly see weather and lighting conditions before downloading. Note: some runs in the Multiseason dataset do not form a complete loop. Important note: This dataset provides ftp download links. Some browsers no longer enable ftp links by default and you need to change the settings if you want to download using the browser. Using the wget command or the download script is an alternative to avoid the browser.
A supported hotfix is available from Microsoft. However, this hotfix is intended to correct only the problem that described in this article. Apply this hotfix only to systems that are experiencing the problem described in this article. This hotfix might receive additional testing. Therefore, if you are not severely affected by this problem, we recommend that you wait for the next software update that contains this hotfix.If the hotfix is available for download, there is a "Hotfix download available" section at the top of this Knowledge Base article. If this section does not appear, contact Microsoft Customer Service and Support to obtain the hotfix. Note If additional issues occur or if any troubleshooting is required, you might have to create a separate service request. The usual support costs will apply to additional support questions and issues that do not qualify for this specific hotfix. For a complete list of Microsoft Customer Service and Support telephone numbers or to create a separate service request, visit the following Microsoft website:
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The background layer allows you to choose the sky (day or dusk). Set the background (Flat, Mountains or Cityscape). You can also trigger light poles that animate in loop to create the illusion of movement as well as a sign that will appear and disappear in the distance.
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