Contains the synthetic dataset developed for our CVPR2021 paper:
๐ A Monocular Pose Estimation Case Study: The Hayabusa2 Minerva-II2 Deployment. ๐
Images shared under CC0.
Synthetic Minerva-II2 images currently available for download at Price's Google Drive
The real Minerva-II2 images are copyright to the Hayabusa 2 Optical Navigation Camera (ONC) system team: JAXA, Chiba Institute of Technology, University of Tokyo, Kochi University, Rikkyo University, Nagoya University, University of Aizu and AIST. For access to the real Minerva-II2 deployment images permission will need to be obtained from JAXA.
For any questions or difficulties regarding accessing the dataset, please feel free to contact the authors. [email protected]
Supplementary Video: https://youtu.be/87R-tGOvD4U
Three annotation files are shared. Their content format is identical.
- SetA - A set of ~10,000 images with a symmetric Minerva-II2 target. The set was designed to replicate real Minerva-II2 deployment images.
- SetB - A set of ~10,000 images with a nonsymmetric Minerva-II2 target. The set was designed to work with the Tumble dataset.
- Tumble - A set of 300 images with a nonsymmetric Minerva-II2 target. The set was designed to challenge a pose estimation pipeline to recover and estimate tumbling motion.
The annotation files are formatted with the following members:
- image: image name
- joints: pixel locations of vertices [pixels, pixels]
- pose: camera frame pose of the Minerva-II2 target [q0,q1,q2,q3,m,m,m]
- Example entry:
'{
"image":"image_1.png",
"joints":[[1,1],[2,2],[3,3],[4,4],[5,5],[6,6],[7,7],[8,8],[9,9],[10,10],[11,11],[12,12],[13,13],[14,14],[15,15],[16,16]],
"pose":[1,0,0,0,0,0,0.5]
}'
The "joints" member contains 16 [x,y] pairs indicating the location of a vertice in the image. The "pose" member is a 1x7 vector containing the camera frame pose of the Minerva-II2 (quaternion|cartesian vector).
If desired, one can generate their own "joints" annotations for training based on the pose. We include the joints information here for convenience. Please note, the datasets have a slight distinction:
- The SetA "pose" [cartesian] vector points to the [0.875, -0.04, 4.76]MinervaII2_bodyFrame
- The SetB "pose" [cartesian] vector points to the [0, 0, 0]MinervaII2_bodyFrame
- The Tumble "pose" [cartesian] vector points to the [0, 0, 0]MinervaII2_bodyFrame
The geometry of the Minerva-II2 vertices are shared in MinervaII2_Vertices.txt. The values are in [mm].
The renderings were designed to match the Hayabusa2 ONC-W2 camera parameters.
- resolution: 1024x1024
- sensor size: 13um x 13um
- focal length: 10.38 mm
- field of view: 68.89 deg
The dataset development is described in our paper.
@inproceedings{Price21,
title={A Monocular Pose Estimation Case Study: The Hayabusa2 Minerva-II2 Deployment},
author={Price, Andrew and Yoshida, Kazuya},
booktitle={CVPR},
year={2021}
}