The System of MOANA Dataset

• We define the reference base frame and orientation as the RTK-GNSS. All the extrinsic parameters are represented in the base frame.

• Description for the "Base2Camera.txt"

  • Tr_gnss_to_cam(_left, _right) represents the extrinsic parameters of the center of the stereo camera and is provided as a 3x4 matrix in the form of [R|t].

  • The image frame is defined as : z-axis forawrd, x-axis right, y-axis downward.

  • The baseline of our camera system is 6cm.

  •  camera_matrix_left and camera_matrix_right represent the intrinsic parameters of the camera model (focal length and optical center), and are given in the format:

[fx ​ 0 cx; 0  fy cy; 0   0  1]

• • distortion_coefficient represents a set of parameters: [k1​,k2​,p1​,p2​,k3​,k4​,k5​,k6​,s1​,s2​,s3​,s4​,τx​,τy​]

• The calibration file are provided in each sequence folder, and also available here.