About the Bicocca dataset

[m.omar82]

Dear Sir
About the Bicocca dataset in the RTAB-Map website th Ground truth shows it 1757 images, I download Bicocca_2009-02-25b-FRONTAL it include 52696 images, do I have to select images or I download the wrong folder?


and the same for Bovisa dataset
thanks for your support

[matlabbe]

Hi,

Refer to Table II of this paper, the datasets were downsampled to 1 Hz (52696/1757 = ~30 Hz).

cheers,
Mathieu

[m.omar82]

Thanks for your replay and fast support

52696/1757 = ~30 this mean if the 1st image the ID is 0 then the second image will be image-ID=30!!

[matlabbe]

Hi,
 
yes, something like that. Loop closure detection is benchmarked at 1 Hz (and parameters are tuned for 1 Hz). Unless the robot is moving very fast, it is overkill to do loop closure detection at 30 Hz as images under 1 second delay would look mostly always the same.

cheers,
Mathieu

[m.omar82]

Thanks for your support
this help me alot
Your sincerely
Mohammed