## UT-MM Dataset

To access our dataset, visit [Hugging Face](https://huggingface.co/datasets/neel1302/UT-MM/tree/main). To see videos of the content, please visit our [[Project Page]](https://vita-group.github.io/MM3DGS-SLAM/).

A script to convert the UT-MM rosbag data to usable .txt files is included in
`scripts/bag2data.py` at [this repository](https://github.com/VITA-Group/MM3DGS-SLAM). Note that [ROS](https://wiki.ros.org/ROS/Installation)
is required to read the camera-to-imu transformation.

```shell
python scripts/bag2data.py --path <rosbag dir path> --scene <scene name>
```
However, the transformation is constant between our datasets, which we have provided.
```
./tf/tf.txt
```

<details>
<summary><span style="font-weight: bold;">Command Line Arguments for scripts/bag2data.py</span></summary>

#### --path

Path to the directory containing rosbags

#### --scene

Name of the scene to read

</details>
<br>

### Rosbag topics

Combined, the datasets contain 8387 images, 2796 LiDAR scans, and 27971 IMU measurements. The following is a quick overview of the topics that can be found within each bag file:

```
/vrpn_client_node/Jackal_Latest/pose   : geometry_msgs/PoseStamped (Pose Coordinates, 100hz)
/realsense/color/image_raw/compressed  : sensor_msgs/CompressedImage (RGB Image, 30hz)
/realsense/depth/image_rect_raw        : sensor_msgs/Image (Depth Image, 30hz)
/microstrain/imu/data                  : sensor_msgs/Imu (Imu Measurements, 100hz)
/ouster/points                         : sensor_msgs/PointCloud2 (LiDAR Point Clouds, 10hz)
```

To visualize the dataset, ROS is needed. Some scripts are provided in the UT_MM_Scripts directory.

```
roscore

rosrun rviz rviz -d UT_MM_Scripts/configs/jackal.rviz

rqt --clear-config --perspective-file UT_MM_Scripts/configs/rqt_plots.perspective

rosbag play --clock *.bag --pause

python3 imu_preintegration.py
```

<br>

## Citation

If you find our paper useful or interesting, please consider giving a star ⭐ and citing the following paper 📝.

```bibtex
@misc{sun2024mm3dgs,
      title={MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements},
      author={Lisong C. Sun and Neel P. Bhatt and Jonathan C. Liu and Zhiwen Fan and Zhangyang Wang and Todd E. Humphreys and Ufuk Topcu},
      year={2024},
      eprint={2404.00923},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}
```

---
license: cc
---