Leandro4002/LEANDRONE_V2

Repository: https://huggingface.co/datasets/Leandro4002/LEANDRONE_V2
Download zip: https://public.saraivam.ch/static/LEANDRONE_V2.zip
Project using this dataset: https://gitlab.com/Leandro4002/drone_race

Description

The LEANDRONE_V2 dataset is a collection of 2000 labelled images triying to mimic the photo taken by the front camera of a Bitcraze AI deck 1.1 mounted on a Crazyflie 2.1 nanodrone. The camera model is a Himax HM01B0.

This dataset is aimed to create a machine learning model for an autonomous line-following drone. A secondary objective is to count the number of bottles along the track. The track is approximately 3.5m x 1.8m. The images are monochrome, 320x320 and taken ~20-30 cm from the ground.

Each iteration has random variations of the line, number of bottles and bottles positions. For each iteration, there is images from the "drone" going around the track. There are 50 iterations with each 40 images which gives us a total of 2000 images. Every even iteration, the track is done clockwise, and every odd iteration it is done anti-clockwise. In the image name, the first 2 digits is the iteration number and the 2 next digits is for the image number. They are separated by a '_'.

The camera of the AI-deck sets it's light sensitivity at the start, so the images captured by the camera will be different depending on the camera's exposure to light when starting the drone.
Here is a comparison when the drone is started with the camera covered and white the camera looking at a light source:

The images in this dataset are generated for a camera that has been covered at the start.

File structure

|
|
|---render
|   "Black and white images, named from '00_000.png' to '49_39.png'"
|
|
|
|---labels.json
    "json array containing json objects representing an iteration, indexed by iteration.
    For each iteration, there is the number of bottles and the angles of where the line is
    headed, indexed by image number."

Example of sample

Extract from labels.json:

[
    {"nb_bottles":10,"angles":[0.18414787265085214, 0.132598059970895, ...]},
    {"nb_bottles":6,"angles":[...]},
    ...
]

Here is a comparison between generated in the dataset and actual photos taken by the drone:

Small light artifacts may appear on the dataset's images.

A 3d model of the room has been made with photogrammetry using Meshroom 2023.3.0:

Author

Made in Blender 4.1.1 by Leandro SARAIVA MAIA
30 May 2024
This work is marked with CC0 1.0 Universal