******Michigan Indoor Corridor 2012 Dataset******
This dataset is made available for research purpose only.
Please contact Grace Tsai( gstsai@umich.edu) for any questions or comments.
This dataset was used to produce the results in our IROS 2012 paper. If you use the data, please cite the following reference in your publications related to this work:
Grace Tsai and Benjamin Kuipers
Dynamic Visual Understanding of the Local Environment for an Indoor Navigating Robot
International Conference on Intelligent Robots and Systems (IROS'12)
October 2012
The dataset contains 4 video sequences acquired with camera mounted on a wheeled vehicle. The camera was set-up so that there was zero tilt and roll angle with respect to the ground. The camera has a fixed height (0.47 m) with the ground throughout the video.
The intrinsic parameters of the cameras are:
Focal length fc = [ 1389.182714 1394.598277 ]
Principal point cc = [ 672.605430 387.235803 ]
The distortion of the camera has been corrected.
For each video sequences, an estimated camera pose in each frame of the video is provided in the file pose.txt. Each line in the file looks like:
<frame index> <x (pose)> <y (pose)> <theta (pose)>
Note the camera poses provided here are estimated by using an occupancy grid mapping algorithm with a laser range finder
to obtain the robot pose.
The dataset provides a ground truth labeling for all the pixels every 10 frames for each video. The labels of each frame is stored as a 2D matrix in a .mat file. The filename of each .mat file corresponds to the image frame. The labels can be interpreted as followed:
-2 -> ceiling plane
-1 -> ground plane
>0 -> walls
The labels of the walls are illustrated in a .pdf figure. Note the figure is only a illustration graph, not an actual floor plan.
Grace Tsai and Benjamin Kuipers "Dynamic Visual Understanding of the Local Environment for an Indoor Navigating Robot" International Conference on Intelligent Robots and Systems (IROS'12) October 2012 https://doi.org/10.1109/IROS.2012.6385735
Shtull-Leber E, Silbergleit R, Meurer WJ (2017) Pre-hospital midazolam for benzodiazepine-treated seizures before and after the Rapid Anticonvulsant Medication Prior to Arrival Trial: A national observational cohort study. PLoS ONE 12(3): e0173539. https://doi.org/10.1371/journal.pone.0173539
Active living resources include spaces and organizations that facilitate physical activity, including 1) park land, 2) recreation areas (including parks, golf courses, amusement parks, beaches and other recreational landmarks); and 3) recreation centers (including gyms, dancing instruction, martial arts instruction, bowling centers, yoga instruction, sports clubs, fitness programs, golf course, pilates instruction, personal trainers, swimming pools, skating rinks, etc.)
Coverage for all data: 10-county Detroit-Warren-Ann Arbor Combined Statistical Area.
The Social Environment refers to characteristics of the people and institutions in a census tract, including: 1)
Religious organizations (churches and places of worship); and 2) Voter turnout for the 2012 Presidential Election. Coverage for all data: 10-county Detroit-Warren-Ann Arbor Combined Statistical Area.
Sifuentes, C. J. (2016). Regulation of Müller glial stem cell properties: Insights from a zebrafish model (Doctoral dissertation). Retrieved from http://hdl.handle.net/2027.42/135939
Sifuentes, C. J. (2016). Regulation of Müller glial stem cell properties: Insights from a zebrafish model (Doctoral dissertation). Retrieved from http://hdl.handle.net/2027.42/135939
Sifuentes, C. J. (2016). Regulation of Müller glial stem cell properties: Insights from a zebrafish model (Doctoral dissertation). Retrieved from http://hdl.handle.net/2027.42/135939
Sifuentes, C. J. (2016). Regulation of Müller glial stem cell properties: Insights from a zebrafish model (Doctoral dissertation). Retrieved from http://hdl.handle.net/2027.42/135939
Sifuentes, C. J. (2016). Regulation of Müller glial stem cell properties: Insights from a zebrafish model (Doctoral dissertation). Retrieved from http://hdl.handle.net/2027.42/135939
