| --- |
| license: cc-by-nc-4.0 |
| tags: |
| - 3d-reconstruction |
| - novel-view-synthesis |
| - nerf |
| - 3d-gaussian-splatting |
| - gaussian-splatting |
| - 3DGS |
| - 3D-computer-vision |
| - computer-vision |
| - robotics |
| - drone |
| - aerial |
| - colmap |
| - SFM |
| - camera-pose |
| --- |
| |
| # PIVOT Dataset |
|
|
| **PIVOT (Pose, Intrinsics and Viewpoint Oriented Testbed)** is a multi-trajectory drone dataset designed for evaluating NeRF and 3D Gaussian Splatting under capture conditions closer to real-world robotics and autonomous systems. It provides multiple structured camera trajectories per scene together with measured sensor-based poses and COLMAP-optimized poses. |
|
|
| <p align="center"> |
| <img src="https://raw.githubusercontent.com/maryraymond/PIVOT/main/assets/pivot_all_4_fps.gif" |
| alt="PIVOT Dataset Overview" |
| width="800"> |
| </p> |
| |
| ## PIVOT Toolchain |
|
|
| The dataset is accompanied by the **[PIVOT GitHub repository](https://github.com/maryraymond/PIVOT)**, which provides the processing, visualization, dataset-export, and benchmarking tools, the dataset is also integrated with Nerfstudio on this branch **[Nerfstudio PIVOT integration GitHub repository](https://github.com/maryraymond/nerfstudio_PIVOT_integration/tree/pivot_integration)**. |
|
|
| Using PIVOT, the released scenes can be: |
|
|
| - **Interactively visualized**, including the sparse point cloud, measured and COLMAP-optimized camera trajectories, pose errors, trajectory statistics, and directed pose Chamfer distances. |
| - **Exported directly to Nerfstudio format** for training and evaluation with Nerfstudio-compatible reconstruction methods. |
|
|
| See the **PIVOT repository README** for installation instructions, visualization commands, Nerfstudio export, and benchmark execution. |
|
|
| ## Benchmarks & Paper |
|
|
| PIVOT defines benchmarks for **novel-view generalization**, **measured vs. optimized camera poses**, and **calibrated vs. optimized camera intrinsics**. |
|
|
| Benchmark methodology, quantitative results, qualitative results, and analysis are provided in the **[PIVOT paper](PAPER_URL)**. |
|
|
| ## Known Issues |
|
|
| - **Church scene — `rocket_upward`:** the rocket-upward trajectory was not successfully registered by COLMAP. The trajectory and its measured poses remain part of the dataset, but COLMAP-optimized poses are unavailable for this trajectory. This is planned to be addressed in an upcoming dataset version. |
| |
| ## Acknowledgements |
| |
| Special thanks to **Clare County Council** and **Bunratty Castle & Folk Park**, including everyone who assisted with and facilitated the drone captures at the site. Their support and cooperation helped make this research possible. |
| |
| ## License |
| |
| The PIVOT dataset is released under the **CC BY-NC 4.0** license. |
