Orbbec EGO

Femto Bolt 双目鱼眼红外采集设备

分辨率1600x1300

帧率30 fps

IMU1000 Hz

设备SNAZER76400GZ

镜头Fisheye Stereo

畸变KannalaBrandt8

Orbbec_Ego_AZER76400GZ_20260806_145222

Recording #145222 Pipeline Report

2026-08-06 ~38.9s @ 30fps Orbbec Femto Bolt 1600x1300 Fisheye

1,144

Frames

Left+Right synced pairs

98.6

Contact Ratio (%)

1128/1144 frames

100.0%

Quality Score (L5)

Verdict: PASS

管线状态

L1 Sync

L2 Pose

L3 Hands

L3b WiLoR

L3c HaWoR

L4 Semantic

L5 QC

EGO

采集画面预览

Orbbec EGO 双目 1600×1300 @30fps | 165° 鱼眼广角 | 全局快门

双目立体视差对

左目 + 右目同步帧 | 基线 ~65mm | ORB-SLAM3 立体惯导输入

左目 (参考相机)

右目

L1

时间同步质量

1,144 pairs

双目帧时间戳精确配对 | 左目参考 | IMU 1000 Hz

10.0

LR Mean Diff (μs)

max=94μs, std=15.3μs

33.333

帧间隔 (ms)

30fps target

1000

IMU 采样率 (Hz)

1143 segments

双目同步误差分布

LR diff histogram (1144 pairs)

帧间隔时序

参考线: 33.333ms

双目同步质量

同步帧对1,144 pairs

原始左目1144 frames

原始右目1163 frames (trimmed 0)

LR max diff94 μs

LR mean diff10.0 μs

LR std diff15.3 μs

IMU 集成

IMU 分段数1143

Accel/帧33.3

采样率1000 Hz

时移补偿-12282 μs

参考相机left_camera

L2

Camera Trajectory (ORB-SLAM3)

1144 poses

ORB-SLAM3 Stereo（纯双目，米制尺度来自 120 mm 基线） | KannalaBrandt8 鱼眼畸变模型 | 最多200个采样点

1,144

Pose Count

100.0% coverage (1144/1144)

10.5645

总路程 (m)

avg 0.2713 m/s

0.498 × 0.25 × 0.373

Bounding Box (m)

Stereo（120 mm 基线定尺度）

鼠标拖拽旋转 | 滚轮缩放 | 右键平移

轨迹统计

Pose count1,144

Coverage100.0% (1144/1144)

总路程10.5645 m

平均速度0.2713 m/s

Bounding Box0.498 × 0.25 × 0.373 m

MethodStereo（纯双目）

LensKannalaBrandt8 (Fisheye)

IMU 分段1143 segs

L3

手物交互检测 (Hands23)

98.6% contact

Hands23 Detector (NeurIPS 2023) | 逐帧手-物体交互状态、抓取类型

98.6%

接触帧占比

1128 / 1144 frames

1

动作片段数

有效交互片段

2,329

原始手检测

ghost 73 (3.1%) 已清理

Grasp 类型分布

Contact 分布

L3b

3D 手骨骼重建 (WiLoR)

2,380 hands

WiLoR-mini (CVPR 2025) | MANO 21 关键点 | 世界坐标系

2,380

Hands detected

across 1144 frames

2.1

Hands/Frame

avg detection count

21

Keypoints/Hand

3D world coords (63 dim)

骨骼图例左手 (L) 右手 (R) 腕部关键点输出: 21 关键点 (x,y,z) + 2D 投影坐标 / 帧

L3c

世界坐标手部轨迹 (HaWoR)

1143 frames

HaWoR (CVPR 2025) | 左右手腕 3D 世界坐标轨迹 | 最多200个采样点

145222 · Left & Right Wrist 3D Trajectory 1143 frames · 38.9s

图例: 左手轨迹右手轨迹地面网格拖拽旋转 · 滚轮缩放 · 右键平移

左手腕 (Left Wrist)

有效帧1143/1143

X range[-0.366, 0.167] m

Y range[-0.586, 0.083] m

Z range[-0.888, -0.292] m

Mean pos(-0.04, -0.27, -0.5)

右手腕 (Right Wrist)

有效帧1143/1143

X range[-0.349, 0.377] m

Y range[-0.534, 0.213] m

Z range[-0.873, -0.322] m

Mean pos(0.12, -0.15, -0.56)

L4

语义标注 (gpt-4o)

20/20 ✓

关键帧采样 | 物体识别 + 动作分类 + 任务阶段

20

标注帧数

20/20 (100%)

14

物体类别

跨帧去重统计

3

任务阶段

idle, manipulating, reaching

任务阶段分布

物体词表 (14 类)

chocolate_boxcoffee_cuphand_sanitizerlaptoporange_bottlepaper_bagsanitizer_bottlesnack_bowlsnack_boxsnack_containersnack_packagetissue_boxwater_bottlewater_bottle_pack

逐帧语义标注详情

20 帧 | gpt-4o

L5

质量验证

24 pass

质检合格该段已纳入数据集

100.0%

Quality Score

24 checks total — Verdict: PASS

✓L1file_exists:l1_sync.json

✓L1file_exists:imu_segments.json

✓L3file_exists:l3_actions.json

✓L4file_exists:l4_semantic.json

✓L2file_exists:l2_trajectory.json

✓L2file_exists:CameraTrajectory.txt

✓L1frame_count_positive1144 pairs

✓L1timestamps_monotonic

✓L1lr_sync_qualityp99=59μs, mean=10.0μs, max=94μs

✓L1frame_interval_stabilitymean=33.333ms, std=0.028ms

✓L1imu_segments_present1143 segments, 38113 accel samples

✓L1→L2pose_coverage100.0% of 1144 frames have a valid camera pose

✓L1→L2trajectory_reasonabledist=10.5645m, bbox=[0.4983, 0.2504, 0.3733], speed=0.2713m/s

✓L1→L3frame_count_match1144 frames

✓L1→L3frame_idx_alignment1144 indices aligned

✓L3contact_ratio_plausible98.6%

✓L3hand_count_rangemax=2 hands/frame (clean)

✓L3action_segments_valid1 segments, all ≥0.3s

✓L3postprocessing_appliedghost_removal=3.1%, smoothing=0%

✓L3→L4keyframe_indices_in_l3All 20 keyframes have L3 data

✓L4annotation_completeness20/20 (100%)

✓L4annotation_schema_validAll 20 annotations have required fields

✓L4objects_detected14 unique object categories

✓L4phase_diversity3 phases: ['idle', 'manipulating', 'reaching']

所有检查通过。L1-L4 层质量验证完成。

L0-L6

数据处理管线

L1-L5 Complete

从原始双目采集到具身智能训练数据的完整处理链路

L1

Frame Sync

✓ Complete

L2

ORB-SLAM3

✓ Complete

L3

Hands23

✓ Complete

L3b

WiLoR

✓ Complete

L3c

HaWoR

✓ Complete

L4

GPT-4.1

✓ Complete

L5

QC 100.0%

✓ Complete

L6

LeRobot v3

✓ Complete

DONE

Export

✓ Complete