samples.json

{"samples": [{"_id": {"$oid": "6a9223fa1165a0b7dfe0c99f"}, "filepath": "data/construction_seq1/episode.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999419695719173, "sequence": "construction_seq1", "site": "construction", "duration": 741.31679702, "environments": ["indoor", "outdoor", "transition"], "num_checkpoints": 16, "num_camera_frames": 14826, "num_lidar_sweeps": 7286, "num_imu_samples": 148203, "num_gnss_fixes": 7413, "gnss_fix_rate": 0.2543, "best_system": "fast_lio_sam", "error_fast_lio_sam_rmse_m": 0.2626, "error_fast_lio_sam_max_m": 0.9993, "error_okvis_lvig_rmse_m": 0.7539, "error_okvis_lvig_max_m": 1.5703, "error_okvis_vig_rmse_m": 1.4368, "error_okvis_vig_max_m": 2.911, "_dataset_id": {"$oid": "6a9223f91165a0b7dfe0c99e"}, "created_at": {"$date": "2026-08-29T00:12:42.070Z"}, "last_modified_at": {"$date": "2026-08-29T00:12:42.070Z"}},{"_id": {"$oid": "6a9223fa1165a0b7dfe0c9a0"}, "filepath": "data/construction_seq2/episode.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999080367813188, "sequence": "construction_seq2", "site": "construction", "duration": 599.509111167, "environments": ["indoor", "outdoor", "transition"], "num_checkpoints": 16, "num_camera_frames": 11990, "num_lidar_sweeps": 5878, "num_imu_samples": 119819, "num_gnss_fixes": 5993, "gnss_fix_rate": 0.2306, "best_system": "fast_lio_sam", "error_fast_lio_sam_rmse_m": 0.461, "error_fast_lio_sam_max_m": 0.7547, "error_okvis_lvig_rmse_m": 0.8078, "error_okvis_lvig_max_m": 1.1531, "error_okvis_vig_rmse_m": 3.7165, "error_okvis_vig_max_m": 4.8269, "_dataset_id": {"$oid": "6a9223f91165a0b7dfe0c99e"}, "created_at": {"$date": "2026-08-29T00:12:42.071Z"}, "last_modified_at": {"$date": "2026-08-29T00:12:42.071Z"}},{"_id": {"$oid": "6a9223fa1165a0b7dfe0c9a1"}, "filepath": "data/stadtgarten_seq1/episode.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9998636034774993, "sequence": "stadtgarten_seq1", "site": "stadtgarten", "duration": 1602.929974557, "environments": ["outdoor"], "num_checkpoints": 36, "num_camera_frames": 32058, "num_lidar_sweeps": 15795, "num_imu_samples": 320460, "num_gnss_fixes": 16028, "gnss_fix_rate": 0.544, "best_system": "fast_lio_sam", "error_fast_lio_sam_rmse_m": 0.1639, "error_fast_lio_sam_max_m": 0.3762, "error_okvis_lvig_rmse_m": 4.1112, "error_okvis_lvig_max_m": 11.8661, "error_okvis_vig_rmse_m": 3.2761, "error_okvis_vig_max_m": 6.8474, "_dataset_id": {"$oid": "6a9223f91165a0b7dfe0c99e"}, "created_at": {"$date": "2026-08-29T00:12:42.072Z"}, "last_modified_at": {"$date": "2026-08-29T00:12:42.072Z"}},{"_id": {"$oid": "6a9223fa1165a0b7dfe0c9a2"}, "filepath": "data/stadtgarten_seq2/episode.fo.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9996537607609678, "sequence": "stadtgarten_seq2", "site": "stadtgarten", "duration": 934.673629285, "environments": ["outdoor"], "num_checkpoints": 19, "num_camera_frames": 17535, "num_lidar_sweeps": 9216, "num_imu_samples": 175191, "num_gnss_fixes": 8768, "gnss_fix_rate": 0.4039, "best_system": "fast_lio_sam", "error_fast_lio_sam_rmse_m": 0.1685, "error_fast_lio_sam_max_m": 0.3771, "error_okvis_lvig_rmse_m": 3.189, "error_okvis_lvig_max_m": 4.5957, "error_okvis_vig_rmse_m": 2.6873, "error_okvis_vig_max_m": 5.8957, "_dataset_id": {"$oid": "6a9223f91165a0b7dfe0c99e"}, "created_at": {"$date": "2026-08-29T00:12:42.072Z"}, "last_modified_at": {"$date": "2026-08-29T00:12:42.072Z"}}]}