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The City of Sights: An Augmented Reality Stage Set

 

Four Eyes Lab, University of California at Santa Barbara TU München TU Graz

Lukas Gruber,   Steffen Gauglitz,   Jonathan Ventura,   Stefanie Zollmann,   Manuel Huber,   Michael Schlegel,   Gudrun Klinker,   Dieter Schmalstieg,   Tobias Höllerer

Graz University of Technology – Four Eyes Lab, University of California at Santa Barbara – Munich University of Technology

This website accompanies our ISMAR 2010 paper, "The City of Sights: Design, Construction, and Measurement of an Augmented Reality Stage Set", and offers the data presented therein for download to everyone who is interested. The dataset is available as digital 3D models and may be physically constructed by anyone as paper models. Additionally, we provide various videos including camera-pose reference data of the assembled model. For further motivation, design guidelines, discussion of accuracy etc. please refer to the paper. We welcome any suggestions or contributions to this dataset, in form of new or customized models as well as further video data, please contact us at lgruber(at)icg tugraz at.

If you are using this data in academic works, we ask that you please cite our ISMAR 2010 paper in which it this data was presented (see reference at bottom of page).

Abstract

We describe the design and implementation of a physical and virtual model of an imaginary urban scene — the “City of Sights” — that can serve as a backdrop or “stage” for a variety of Augmented Reality (AR) research. We argue that the AR research community would benefit from such a standard model dataset which can be used for evaluation of such AR topics as tracking systems, modeling, spatial AR, rendering tests, collaborative AR and user interface design. By openly sharing the digital blueprints and assembly instructions for our models, we allow the proposed set to be physically replicable by anyone and permit customization and experimental changes to the stage design which enable comprehensive exploration of algorithms and methods. Furthermore we provide an accompanying rich dataset consisting of video sequences under varying conditions with reference camera pose. We employed three different camera-pose reference data acquisition methods to support a broad range of use cases. The goal of our design is to enable and improve the replicability and evaluation of future augmented reality research.

Digital 3D Models and Paper Models


Thanks to Tobias Thyrrestrup for the untextured (white) PDFs. We welcome contributions to this dataset, (such as new or customized models, additional meta data or video observations). Please contact us at lgruber at icg tugraz at.

Meta data

City of Sights is accompagnied by initial meta data sets.
Type Data Preview Description
Annotations Labels (txt) Label dataset containing 20 different labels (position, name).
Planes Planes (txt) Dataset containing 24 different positions describing 6 planes. Measured with the CMM from Faro. Measured with the same setup used to record the video sequences with the faro arm.
Test program Source Code (rar) Sample program for loading the data set. Source code and dependency libraries included. Currently supports Windows only. Read the Run.bat file for usage. Supports three different views: AR view, VR view and Debug view.

Accompanying Data: Videos and Reference Data

If you have further video data of the City of Sights which you would like to share, please contact us!

Robotic Arm Sequence

Frame resolution 1600x1200 pixels, approximately 0.1 mm of camera movement between frames. The reference data is stored as comma-separated values with the entries   [TimeStamp,X,Y,Z,A,B,C,D,FrameNo]   where X,Y,Z denote the position and A,B,C,D the rotation as quaternion. The reference data is in world coordinate system. In camera coordinate system positive Z is pointing forward and positive Y points down. We have images of a color calibration board in two positions for each of the three lighting conditions (see thumbnail): color calibration images (.zip, 7 MB).

Intrinisc camera parameters

  Dataset Video Individual frames Reference data Description
Light condition 0
   CS_RA_L0_BirdsView: .avi (12 MB) .zip (359 MB) .csv bird's view, 2088 frames
   CS_RA_L0_TopView: .avi (10 MB) .zip (260 MB) .csv top view, 1809 frames
   CS_RA_L0_StreetView: .avi (14 MB) .zip (367 MB) .csv street level view, 2269 frames
Light condition 1
   CS_RA_L1_Groundplane: .zip (?? MB) .zip (344 MB) .csv groundplane only, 1808 frames
   CS_RA_L1_BirdsView: .zip (?? MB) .zip (319 MB) .csv bird's view, 2088 frames
   CS_RA_L1_TopView: .zip (?? MB) .zip (310 MB) .csv top view, 1809 frames
   CS_RA_L1_StreetView: .zip (?? MB) .zip (367 MB) .csv street level view, 2270 frames
Light condition 2
   CS_RA_L2_BirdsView: .zip (?? MB) .zip (363 MB) .csv bird's view, 2090 frames
   CS_RA_L2_TopView: .zip (?? MB) .zip (219 MB) .csv top view, 1000 frames
   CS_RA_L2_StreetView: .zip (?? MB) .zip (363 MB) .csv street level view, 2269 frames

A.R.T. Sequences

Intrinisc camera parameters

The following zip file contains all raw measurements which were used for intrinsic and extrinsic camera parameter calibration. Please refer to the readme file inside.

Raw calibration parameters

Frame resolution 640x480 pixels, free hand-held motion.

Reference data as comma-separated values ([TimeStamp,X,Y,Z,A,B,C,D,FrameNo] where X,Y,Z denote the position and A,B,C,D the rotation as quaternion). The reference data is in camera coordinate system. In camera coordinate system negative Z is pointing forward and positive Y points up.

Dataset Video Individual frames Reference data Description
CS_ART_02: (.zip, XX MB) .zip (72 MB) .csv groundplane only
CS_ART_02_augm: (.zip, XX MB) .zip (95 MB) .csv as above, with augmentation
CS_ART_03: .avi (8 MB) .zip (85 MB) .csv entire scene
CS_ART_04: .avi (11 MB) .zip (119 MB) .csv entire scene
CS_ART_05: .avi (11 MB) .zip (119 MB) .csv entire scene
CS_ART_06: .avi (12 MB) .zip (119 MB) .csv entire scene
CS_ART_07: .avi (11 MB) .zip (119 MB) .csv entire scene
CS_ART_08: .avi (14 MB) .zip (119 MB) .csv entire scene
CS_ART_09: .avi (11 MB) .zip (119 MB) .csv entire scene
CS_ART_10: .avi (12 MB) .zip (119 MB) .csv entire scene
CS_ART_11: .avi (12 MB) .zip (119 MB) .csv entire scene
CS_ART_12: .avi (12 MB) .zip (119 MB) .csv entire scene

Faro Fusion Arm Sequences

Intrinisc camera parameters

The following zip file contains all raw measurements which were used for intrinsic and extrinsic camera parameter calibration. Please refer to the readme file inside.

Raw calibration parameters


Frame resolution 640x480 pixels, free hand-held motion.

Reference data as comma-separated values ([TimeStamp,X,Y,Z,A,B,C,D,FrameNo] where X,Y,Z denote the position and A,B,C,D the rotation as quaternion). The reference data is in camera coordinate system. In camera coordinate system negative Z is pointing forward and positive Y points up.

Dataset Video Individual frames Reference data Description
CS_FARO_02: .avi (9 MB) .zip (32 MB) .csv ground plane only, 1101 frames
CS_FARO_02_augm: .zip (?? MB) .zip (145 MB)   as above, with augmentation
CS_FARO_03: .avi (XX MB) .zip (78 MB) .csv entire scene
CS_FARO_04: .avi (9 MB) .zip (119 MB) .csv entire scene
CS_FARO_05: .avi (9 MB) .zip (119 MB) .csv entire scene
CS_FARO_06: .avi (11 MB) .zip (119 MB) .csv entire scene
CS_FARO_07: .avi (13 MB) .zip (119 MB) .csv entire scene
CS_FARO_08: .avi (14 MB) .zip (119 MB) .csv entire scene
CS_FARO_09: .avi (14 MB) .zip (119 MB) .csv entire scene
CS_FARO_10: .avi (13 MB) .zip (119 MB) .csv entire scene
CS_FARO_11: .avi (12 MB) .zip (119 MB) .csv entire scene
CS_FARO_12: .avi (11 MB) .zip (119 MB) .csv entire scene

Reference

Lukas Gruber, Steffen Gauglitz, Jonathan Ventura, Stefanie Zollmann, Manuel Huber, Michael Schlegel, Gudrun Klinker, Dieter Schmalstieg, Tobias Höllerer:    The City of Sights: Design, Construction, and Measurement of an Augmented Reality Stage Set.
Proc. of the 9th IEEE International Symposium on Mixed and Augmented Reality (ISMAR'10), pp.157-163, Seoul, Korea 13-16 Oct. 2010.
(BibTex)

 

 

 


 

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