r2b Dataset 2023

Dataset Overview

The r2b dataset 2023 is a collection of sequences stored in rosbags, a ROS 2 native format used for message data including time synchronized sensor captures from a robot. The dataset can be loaded and played back into an application running a ROS graph of nodes for testing and performance benchmarking of image processing, perception and localization. Each sequence consists of a single sequence in a scene, providing a small diversity of data across the collection of sequences in this dataset.

Several sequences contain sensor multi-second captures including LIDAR, stereo camera, and IMU data from HAWK stereo camera, RealSense D455, and XT32 with highly precise time synchronization. Other sequences contain data recorded from a simulated scene in Isaac Sim. The r2b_hope sequence is distinct as it contains D415 RGB data.

\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n

tr:nth-child(odd)]:bg-surface-sunken\">

Sequence	Visual	Description
`r2b_lounge`	$\"r2b_lounge$	Lounge sequence containing couch, table, chairs, and staircase with natural planted background wall.
`r2b_storage`	$\"r2b_storage$	Storage sequence including person, AprilTag, shoe, shelving, boxes, pallets, with moving obstacles.
`r2b_hallway`	$\"r2b_hallway$	Hallway sequence with walking persons, low to no feature not-perpendicular walls, specular highlights, and reflections.
`r2b_datacenter`	$\"r2b_datacenter$	Datacenter sequence with tall vertical corridor, repetitive low-feature surfaces, and little color.
`r2b_cafe`	$\"r2b_cafe$	Café sequence including table, chairs, stools, reflective flooring, dark reflective glass walls, specular highlights, low wall features, and vibration from floor surface.
`r2b_hope`	$\"r2b_hope$	Images from `scene_0005` of the HOPE dataset for 6-DoF pose estimation
`r2b_hideaway`	$\"r2b_hideaway$	Hideaway sequence including table, chairs, seated and moving persons, specular highlights, low wall features, and vibration from floor surface.
`r2b_mezzanine`	$\"r2b_mezzanine$	Mezzanine sequence including staircase, railings, table, chairs, highlights, low wall features, and vibration from floor surface.

Documentation

Topics Provided

The sequences contained in this dataset contain the following topics:

\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n

tr:nth-child(odd)]:bg-surface-sunken\">

Sequence	Topics Provided	Message Type
`r2b_lounge` `r2b_storage` `r2b_hallway` `r2b_datacenter` `r2b_cafe` `r2b_hideaway` `r2b_mezzanine`	`d455_1_depth_camera_info` `d455_1_depth_image` `d455_1_imu` `d455_1_left_ir_camera_info` `d455_1_left_ir_image` `d455_1_rgb_camera_info` `d455_1_rgb_image` `d455_1_right_ir_camera_info` `d455_1_right_ir_image` `hawk_0_left_rgb_camera_info` `hawk_0_left_rgb_image` `hawk_0_right_rgb_camera_info` `hawk_0_right_rgb_image` `pandar_xt_32_0_lidar`	`sensor_msgs/msg/CameraInfo` `sensor_msgs/msg/Image` `sensor_msgs/msg/Imu` `sensor_msgs/msg/CameraInfo` `sensor_msgs/msg/Image` `sensor_msgs/msg/CameraInfo` `sensor_msgs/msg/Image` `sensor_msgs/msg/CameraInfo` `sensor_msgs/msg/Image` `sensor_msgs/msg/CameraInfo` `sensor_msgs/msg/Image` `sensor_msgs/msg/CameraInfo` `sensor_msgs/msg/Image` `sensor_msgs/msg/PointCloud2`
`r2b_hope`	`camera_info` `image`	`sensor_msgs/msg/CameraInfo` `sensor_msgs/msg/Image`

MD5 Checksums

A MD5 checksum of each rosbag is provided to verify the dataset sequence used in testing or benchmarking matches, to detect inconsistencies in input data, and to provide a method to confirm that the same input dataset sequence is used when comparing independent results.

\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n

tr:nth-child(odd)]:bg-surface-sunken\">

Sequence	Checksum	Size
`r2b_lounge`	720ce30055ee3d49e760f384ad402a03	3.9G
`r2b_storage`	5e8f11201fe10dbac7307a8628553e94	2.9G
`r2b_hallway`	7cc6b54751d37a78893d5bea43b3fbf5	1.3G
`r2b_datacenter`	188167fd025d5922940fb9531f835691	1.7G
`r2b_cafe`	8ef0e6b552cb19b7486cc747f3f3fa43	1.2G
`r2b_hope`	22260103ef97ce5cf563e2c6ee656a4e	30M
`r2b_hideaway`	96a3c2b8007173f9da57e848b4fcee8c	1.8G
`r2b_mezzanine`	c84d7420c5524d882f1019d350232fb1	2.0G

Getting Started/Example

Download the dataset to your local system, and playback the rosbag for test or benchmarking.

ros2 bag play path/to/r2b_sequence\n

For more information about using this dataset for benchmarking ROS 2 graphs of nodes, see ros2_benchmark.

License

This dataset is licensed under Creative Commons - Attribution 4.0 International.

Ethical Considerations

This dataset consists of captures in NVIDIA’s facilities in the United States. Persons in the datasets have consented to use of their images.

This dataset is not sufficiently diverse to be representative of the public in general.

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\n\n# r2b Dataset 2023\n\n## Dataset Overview\n\nThe r2b dataset 2023 is a collection of sequences stored in [rosbags](https://github.com/ros2/design/blob/ros2bags/articles/rosbags.md), a ROS 2 native format used for message data including time synchronized sensor captures from a robot. The dataset can be loaded and played back into an application running a ROS graph of nodes for testing and performance benchmarking of image processing, perception and localization. Each sequence consists of a single sequence in a scene, providing a small diversity of data across the collection of sequences in this dataset.\n\nSeveral sequences contain sensor multi-second captures including LIDAR, stereo camera, and IMU data from [HAWK stereo camera](https://www.leopardimaging.com/li-ar0234cs-stereo-gmsl2-hawk/), [RealSense D455](https://www.intelrealsense.com/depth-camera-d455/), and [XT32](https://www.hesaitech.com/product/xt32/) with highly precise time synchronization. Other sequences contain data recorded from a simulated scene in [Isaac Sim](https://developer.nvidia.com/isaac-sim). The `r2b_hope` sequence is distinct as it contains [D415](https://www.intelrealsense.com/depth-camera-d415/) RGB data.\n\n| Sequence | Visual | Description |\n| ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |\n| `r2b_lounge` | ![r2b_lounge sequence](https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/ros2_benchmark/main/resources/r2b_lounge_sequence.gif) | Lounge sequence containing couch, table, chairs, and staircase with natural planted background wall. |\n| `r2b_storage` | ![r2b_storage sequence](https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/ros2_benchmark/main/resources/r2b_storage_sequence.gif) | Storage sequence including person, AprilTag, shoe, shelving, boxes, pallets, with moving obstacles. |\n| `r2b_hallway` | ![r2b_hallway sequence](https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/ros2_benchmark/main/resources/r2b_hallway_sequence.gif) | Hallway sequence with walking persons, low to no feature not-perpendicular walls, specular highlights, and reflections. |\n| `r2b_datacenter` | ![r2b_datacenter sequence](https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/ros2_benchmark/main/resources/r2b_datacenter_sequence.gif) | Datacenter sequence with tall vertical corridor, repetitive low-feature surfaces, and little color. |\n| `r2b_cafe` | ![r2b_cafe sequence](https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/ros2_benchmark/main/resources/r2b_cafe_sequence.gif) | Café sequence including table, chairs, stools, reflective flooring, dark reflective glass walls, specular highlights, low wall features, and vibration from floor surface. |\n| `r2b_hope` | ![r2b_hope sequence](https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/ros2_benchmark/main/resources/r2b_hope_sequence.gif) | Images from `scene_0005` of the HOPE dataset for 6-DoF pose estimation |\n| `r2b_hideaway` | ![r2b_hideaway sequence](https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/ros2_benchmark/main/resources/r2b_hideaway_sequence.gif) | Hideaway sequence including table, chairs, seated and moving persons, specular highlights, low wall features, and vibration from floor surface. |\n| `r2b_mezzanine` | ![r2b_mezzanine sequence](https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/ros2_benchmark/main/resources/r2b_mezzanine_sequence.gif) | Mezzanine sequence including staircase, railings, table, chairs, highlights, low wall features, and vibration from floor surface. |\n\n## Documentation\n\n### Topics Provided\n\nThe sequences contained in this dataset contain the following topics:\n\n| Sequence | Topics Provided | Message Type |\n| --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |\n| `r2b_lounge`
`r2b_storage`
`r2b_hallway`
`r2b_datacenter`
`r2b_cafe`
`r2b_hideaway`
`r2b_mezzanine` | `d455_1_depth_camera_info`
`d455_1_depth_image`
`d455_1_imu`
`d455_1_left_ir_camera_info`
`d455_1_left_ir_image`
`d455_1_rgb_camera_info`
`d455_1_rgb_image`
`d455_1_right_ir_camera_info`
`d455_1_right_ir_image`
`hawk_0_left_rgb_camera_info`
`hawk_0_left_rgb_image`
`hawk_0_right_rgb_camera_info`
`hawk_0_right_rgb_image`
`pandar_xt_32_0_lidar` | `sensor_msgs/msg/CameraInfo`
`sensor_msgs/msg/Image`
`sensor_msgs/msg/Imu`
`sensor_msgs/msg/CameraInfo`
`sensor_msgs/msg/Image`
`sensor_msgs/msg/CameraInfo`
`sensor_msgs/msg/Image`
`sensor_msgs/msg/CameraInfo`
`sensor_msgs/msg/Image`
`sensor_msgs/msg/CameraInfo`
`sensor_msgs/msg/Image`
`sensor_msgs/msg/CameraInfo`
`sensor_msgs/msg/Image`
`sensor_msgs/msg/PointCloud2` |\n| `r2b_hope` | `camera_info`
`image` | `sensor_msgs/msg/CameraInfo`
`sensor_msgs/msg/Image` |\n\n### MD5 Checksums\n\nA MD5 checksum of each rosbag is provided to verify the dataset sequence used in testing or benchmarking matches, to detect inconsistencies in input data, and to provide a method to confirm that the same input dataset sequence is used when comparing independent results.\n\n| Sequence | Checksum | Size |\n| ---------------- | -------------------------------- | ---- |\n| `r2b_lounge` | 720ce30055ee3d49e760f384ad402a03 | 3.9G |\n| `r2b_storage` | 5e8f11201fe10dbac7307a8628553e94 | 2.9G |\n| `r2b_hallway` | 7cc6b54751d37a78893d5bea43b3fbf5 | 1.3G |\n| `r2b_datacenter` | 188167fd025d5922940fb9531f835691 | 1.7G |\n| `r2b_cafe` | 8ef0e6b552cb19b7486cc747f3f3fa43 | 1.2G |\n| `r2b_hope` | 22260103ef97ce5cf563e2c6ee656a4e | 30M |\n| `r2b_hideaway` | 96a3c2b8007173f9da57e848b4fcee8c | 1.8G |\n| `r2b_mezzanine` | c84d7420c5524d882f1019d350232fb1 | 2.0G |\n\n## Getting Started/Example\n\nDownload the dataset to your local system, and playback the rosbag for test or benchmarking.\n\n```bash\nros2 bag play path/to/r2b_sequence\n```\n\nFor more information about using this dataset for benchmarking ROS 2 graphs of nodes, see [`ros2_benchmark`](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark).\n\n## License\n\nThis dataset is licensed under [Creative Commons - Attribution 4.0 International](https://creativecommons.org/licenses/by/4.0/).\n\n## Ethical Considerations\n\nThis dataset consists of captures in NVIDIA’s facilities in the United States. Persons in the datasets have consented to use of their images. \n\nThis dataset is not sufficiently diverse to be representative of the public in general.\n\n

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This function remembers how far the user has scrolled on the current session across the website's sub-pages.","dmn_chk_-xxxxxxxxxxxx","com","Posthog Analytics","_hly_vid","This cookie _hly_vid is used to record website and server performance with each visit to the site. The data is aggregated and analyzed; therefore, it remains anonymous upon use.","_cs_id","blogs.nvidia.com","_session_id","resources.nvidia.com","This cookie creates an interim session ID used as an in-session user ID.\n","s_cc","This cookie is associated with the Adobe Site Catalyst. It determines whether cookies are enabled in the web browser.","_hjSessionUser_xxxxxx","Hotjar cookie that is set when a user first lands on a page with the Hotjar script. It is used to persist the Hotjar User ID, unique to that site on the browser. 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As part of our bot management service, this cookie helps manage incoming traffic that matches criteria associated with bots.\nThis is a CloudFoundry cookie","OptanonConsent","nvid.nvidia.com","This cookie is set by the cookie compliance solution from OneTrust. It stores information about the categories of cookies the site uses and whether visitors have given or withdrawn consent for the use of each category. This enables site owners to prevent cookies in each category from being set in the users browser, when consent is not given. The cookie has a normal lifespan of one year, so that returning visitors to the site will have their preferences remembered. It contains no information that can identify the site visitor.","events.nvidia.com","This cookie is associated with the Amazon Web Services Elastic Load Balancing functionality for routing client request on the server.Used to attribute commission to affiliates when you arrive at the website from an affiliate referral link. It is set when you click on one of our links and used to let the advertiser and us know the website from which you came.","sessionid","This is a very generic cookie name that may have different purposes on different sites, but generally it will be some kind of anonymous session identifier.","_csrf","This cookie is used to prevent Cross-Site Request Forgery (CSRF) attacks, ensuring that each request made to the server is from the user's browser and is intentional.","enterprise-support.nvidia.com","Used to apply end-user cookie consent preferences set by our client-side utility.Custom- Short Duration. Unique ID of an Enquiry- used to validate access to case, and load exisiting data.\n","renderCtx","academicgrants.nvidia.com","Used to store site parameters in the session for reuse across requests by a single client for functionality and performance reasons.","ph_phc_yQgAEdJJkVpI24NdSRID2mor1x1leRpDoC9yZ9mfXal_posthog","The PostHog ph_phc_xxx cookie is a session cookie used for identifying and tracking visitors on websites, helping us understand user behavior and website performance.","This cookie is managed by AWS and is used for load balancing.Used to attribute commission to affiliates when you arrive at the website from an affiliate referral link. It is set when you click on one of our links and used to let the advertiser and us know the website from which you came.","This cookie is associated with Akamai and is used to differentiate between traffic from humans and bots.","OptanonAlertBoxClosed","docs.ngc.nvidia.com","This cookie is set by websites using certain versions of the cookie law compliance solution from OneTrust. It is set after visitors have seen a cookie information notice and in some cases only when they actively close the notice down. It enables the website not to show the message more than once to a user. The cookie has a normal lifespan of one year and contains no personal information.","nv_co","__uxq412__ses.88c1","investor.nvidia.com","learn.learn.nvidia.com","This cookie is associated with the Amazon Web Services Elastic Load Balancing functionality for routing client request on the server.","pctrk","Used to count page views by unauthenticated users against license usage.","bm_s","bpazaws52gukakzc__ctrl0_ctl36_uccaptcha","bm_sv","store.nvidia.com","The __cf_bm cookie is a cookie necessary to support Cloudflare Bot Management, currently in private beta. As part of our bot management service, this cookie helps manage incoming traffic that matches criteria associated with bots.\n","This cookie name is used by DataDog to determine if cookies are supported on the website.dd_cookie_test","AMP_TLDTEST_xxxxxxxx","SESSlsd","This cookie is likely to be a session identifier used to maintain user session state across page requests.","mboxEdgeCluster","This cookie name is associated with Adobe Target which is used to communicate the correct edge cluster to at.js so that Target profiles can stay in sync as users navigate across a site.","_biz_pendingA","_rdt_em","This cookie name is associated with Reddit which is used to manage session state and user interactions.","megaNavCollapsed","_abck","The _abck cookie is associated with Akamai's Bot Manager, which is used to prevent fraud and abuse by safeguarding online interactions and detecting irregularities that could suggest malicious activity, such as bot-driven attacks or hacking attempts.","AMP_TEST","This cookie name AMP_TEST is used for internal analytics by the website operator, necessary for the functionality of the website's chat-box function, and to check whether the cookie storage is working properly.","idccsrf","This cookie name is associated with Salesforce which is used to track CrossSiteRequestForgery validation for certain single sign-on (SSO) flows.","_biz_flagsA","This cookie is used to remember users' settings as well as for authentication and analytics.","ApplicationGatewayAffinity","partners.nvidia.com","This cookie is used to maintain a user session by the server in a load balanced environment, to ensure the user has a consistent experience.","AMP_TEST_xxxxxxxx","bm_lso","This cookie name is associated with Akamai which is used to load the site as quickly as possible and to recognize bots.","SSESS###########","This cookie is likely to be a session cookie used to maintain an anonymized user session by the server in a secure environment, often seen in sites built with the Drupal content management system.","nvdeveloper.nvidia.com","__uxq412__id.88c1","QueueITAccepted-SDFrts345E-V3_{eventId}","TEST_AMCV_COOKIE_WRITE","This cookie is used to test whether cookies are enabled in the browser. It is a temporary cookie used to determine if the browser accepts cookies.","session","This cookie is typically used to maintain an anonymized user session by the server.","XSRF-TOKEN","This cookie is written to help with site security in preventing Cross-Site Request Forgery attacks.This cookie helps with site security in preventing Cross-Site Request Forgery attacks.","AWS ELB application load balancer","This cookie is associated with Akamai. It is used to analyse traffic to determine if it is automated traffic generated by bots or a human user.","bpazaws52gukakzc__ctrl0_ctl78_list_ctl09_systemcaptcha","PHPSESSID","PHP session cookie associated with embedded content from this domain.\n","base.manager.learn.nvidia.com","login_session","bm_ss","This cookie is used to help protect websites from automated bot traffic.","AWS ELB application load balancerUsed to attribute commission to affiliates when you arrive at the website from an affiliate referral link. It is set when you click on one of our links and used to let the advertiser and us know the website from which you came.","_devzone_session","This cookie is likely used to maintain a user session on the website by the server. It is common for session identifiers to be used to keep users logged in and track their interaction with the site during a session.","_cs_c","The cookie is used by Content Square to save the user consent to be tracked.","bm_sz","This cookie is used by Akamai to optimize site performance and security. It is typically associated with the delivery of web content and services.","vcalliance.nvidia.com","ASP.NET_SessionId","General purpose platform session cookie, used by sites written with Microsoft .NET based technologies. 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	Files	Compressed Size
3	16	14.49 GB	September 4, 2024 UTC
2Selected	16	13.94 GB	October 17, 2023 UTC
1	16	13.94 GB	April 19, 2023 UTC