| ---
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| license: cc-by-4.0
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| pretty_name: xclean 3-D maps
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| tags:
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| - slam
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| - gaussian-splatting
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| - 3d-reconstruction
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| - visual-inertial-odometry
|
| ---
|
|
|
| # xclean 3-D maps
|
|
|
| 3-D Gaussian-splat maps reconstructed by **Necessity Robotics** with **xclean**, a real-time stereo visual-inertial SLAM
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| system. They are the map files behind the 3-D viewer on https://necessityrobotics.github.io. Every map uses xclean's own live camera poses,
|
| from the median of three runs on the final board, not ground truth. Each map's `ATTRIBUTION.json` states its limitations
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| as they are.
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|
|
| | map | source data | source licence |
|
| |---|---|---|
|
| | oak_161834 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
|
| | oak_160543 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
|
| | oak_164002 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
|
| | oak_164424 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
|
| | oak_161206 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
|
| | rosario_01 | The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/ | CC BY 4.0 |
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| | rosario_03 | The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/ | CC BY 4.0 |
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| | rosario_04 | The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/ | CC BY 4.0 |
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|
|
| ## Licence and credit
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| - The maps are released under **CC BY 4.0**.
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| - Maps made from the Rosario Dataset must also credit the source: "The Rosario Dataset, CIFASIS-CONICET, CC BY 4.0
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| (Pire et al., IJRR 2019)". The changes: a 3-D map was reconstructed from its images.
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| - The OAK maps come from Necessity Robotics' own recordings.
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|
|
| ## Files per map
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| - `splats.spz`: the viewer's standard tier.
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| - `splats_lite.*`: the phone / quick tier.
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| - `full/splats.ply`: full resolution.
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| - `points.bin` / `points.json`: the sparse point cloud.
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| - `traj.json`: the camera path.
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| - `keyframes/`: small keyframe images.
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| - `film/`: the fly-through video.
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| - `ATTRIBUTION.json` and `manifest.json` describe the map.
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|
|
