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Orbbec EGO
Femto Bolt 双目鱼眼红外采集设备
分辨率?x?
帧率30 fps
IMU1000 Hz
设备SNAZER76400GZ
镜头Fisheye Stereo
畸变KannalaBrandt8
Orbbec_Ego_AZER76400GZ_20260903_153959

Recording #153959 Pipeline Report

2026-09-03 ~149.1s @ 30fps Orbbec Femto Bolt ?x? Fisheye
4,404
Frames
Left+Right synced pairs
98.3
Contact Ratio (%)
4326/4404 frames
91.7%
Quality Score (L5)
Verdict: PASS

管线状态

L1 Sync
L1 Sync
L2 Pose
L2 Pose
L3 Hands
L3 Hands
L3b WiLoR
L3b WiLoR
L3c HaWoR
L3c HaWoR
L4 Semantic
L4 Semantic
L5 QC
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

Stereo pair
左目 + 右目同步帧 | 基线 ~65mm | ORB-SLAM3 立体惯导输入
左目 (参考相机)
Left camera
L1

时间同步质量

4,404 pairs

双目帧时间戳精确配对 | 左目参考 | IMU 1000 Hz

332.8
LR Mean Diff (μs)
max=33008μs, std=492.5μs
33.333
帧间隔 (ms)
30fps target
1000
IMU 采样率 (Hz)
4403 segments
双目同步误差分布
LR diff histogram (4404 pairs)
帧间隔时序
参考线: 33.333ms

双目同步质量

同步帧对4,404 pairs
原始左目4404 frames
原始右目4420 frames (trimmed 0)
LR max diff33008 μs
LR mean diff332.8 μs
LR std diff492.5 μs

IMU 集成

IMU 分段数4403
Accel/帧0
采样率1000 Hz
时移补偿-12282 μs
参考相机left_camera
L2

Camera Trajectory (ORB-SLAM3)

4402 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

4,402
Pose Count
100.0% coverage (4402/4404)
11.5509
总路程 (m)
avg 0.0775 m/s
0.45 × 0.237 × 0.632
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 count4,402
Coverage100.0% (4402/4404)
总路程11.5509 m
平均速度0.0775 m/s
Bounding Box0.45 × 0.237 × 0.632 m
MethodStereo（纯双目）
LensKannalaBrandt8 (Fisheye)
IMU 分段4403 segs
L3

手物交互检测 (Hands23)

98.3% contact

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

98.3%
接触帧占比
4326 / 4404 frames
1
动作片段数
有效交互片段
8,642
原始手检测
ghost 253 (2.9%) 已清理
Grasp 类型分布
Contact 分布
L3b

3D 手骨骼重建 (WiLoR)

8,587 hands

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

8,587
Hands detected
across 4404 frames
1.9
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)

4402 frames

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

153959 · Left & Right Wrist 3D Trajectory 4402 frames · 149.1s
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4402/4402
X range[-0.036, 0.552] m
Y range[-0.788, -0.11] m
Z range[-0.939, -0.29] m
Mean pos(0.13, -0.48, -0.58)

右手腕 (Right Wrist)

有效帧4402/4402
X range[-0.241, 0.724] m
Y range[-0.749, 0.167] m
Z range[-0.966, -0.363] m
Mean pos(0.27, -0.29, -0.65)
L4

语义标注 (gpt-4.1)

74/74 ✓

关键帧采样 | 物体识别 + 动作分类 + 任务阶段

74
标注帧数
74/74 (100%)
58
物体类别
跨帧去重统计
6
任务阶段
grasping, idle, manipulating, placing, reaching, transporting
任务阶段分布
物体词表 (58 类)
bottled_waterboxbox_of_chocolatescandychocolate_barchocolate_boxcoffee_cupcondiment_packetcupcutting_boarddrink_cupfood_boxfood_containerfood_wrapperkeyboardlaptopmobile_phonemousenapkinnotebookpaper_bagpaper_bag_smallpaper_cuppaper_napkinpaper_towelpaper_towel_boxphoneplastic_bagplastic_boxplastic_containerplastic_cupplastic_trayplastic_wrap_boxrectangular_objectsandwich_boxsandwich_wrappersauce_packetshopping_bagsmartphonesnack_bagsnack_boxsnack_containersnack_packagesnack_wrappersubway_boxsubway_sandwich_boxtablettakeaway_boxtakeout_bagtakeout_boxtakeout_containertissuetissue_boxtraywater_bottlewater_bottle_packwrapped_candywrapped_sandwich
逐帧语义标注详情
74 帧 | gpt-4.1
L5

质量验证

22 pass /2 warn
质检 预警 已记录但不阻断收录
l5_verification
91.7%
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_positive4404 pairs
✓L1timestamps_monotonic
✓L1lr_sync_qualityp99=326μs, mean=332.8μs, max=33008μs
✓L1frame_interval_stabilitymean=33.333ms, std=0.000ms
✓L1imu_segments_present4403 segments, 0 accel samples
✓L1→L2pose_coverage100.0% of 4404 frames have a valid camera pose
✓L1→L2trajectory_reasonabledist=11.5509m, bbox=[0.4499, 0.2375, 0.6321], speed=0.0775m/s
⚠L1→L3frame_count_matchL1=4404 vs L3=4403 (off-by-1, last-frame edge)
⚠L1→L3frame_idx_alignment1 L1 frames missing in L3 (tail frames, Hands23 edge)
✓L3contact_ratio_plausible98.3%
✓L3hand_count_rangemax=2 hands/frame (clean)
✓L3action_segments_valid1 segments, all ≥0.3s
✓L3postprocessing_appliedghost_removal=2.9%, smoothing=0%
✓L3→L4keyframe_indices_in_l3All 74 keyframes have L3 data
✓L4annotation_completeness74/74 (100%)
✓L4annotation_schema_validAll 74 annotations have required fields
✓L4objects_detected58 unique object categories
✓L4phase_diversity6 phases: ['grasping', 'idle', 'manipulating', 'placing', 'reaching', 'transporting']
所有检查通过。L1-L4 层质量验证完成。
NB3

CEREBLINK NB3 肌电腕带

99.3% 覆盖 ✓

6ch sEMG @1kHz + 9-axis IMU @143Hz | 双腕带同步采集

4,375
EMG 有效帧
4,404 帧中 99.3% 覆盖
135K
左手 EMG 采样点
6ch × ~31 samples/frame
144K
右手 EMG 采样点
6ch × ~33 samples/frame

sEMG 信号分析 — Raw / Filtered / RMS Feature

左手 EMG — 6 通道信号分析
Left hand EMG analysis
右手 EMG — 6 通道信号分析
Right hand EMG analysis
左手 — 135,758 samples / 149s / 912Hz
Overall: PASS | Rate: 912Hz | 包间隔 >2ms: 9696 处 (7.1%) | IMU |g|: 930.4
「包间隔」= 相邻采样点间隔超过 2 毫秒的次数。腕带按每包约 14 个采样点发送，包与包之间天然存在该量级的间隔，因此该比例接近 1/14（约 7.1%）属正常传输特征，不代表数据丢失；明显高于该水平才提示丢包。
Channel Mean RMS Max RMS Dynamic Range Activation% Saturation% Status
CH1 172 1391 8.1x 800.0% 0.0% OK
CH2 228 952 4.2x 480.0% 0.0% OK
CH3 86 312 3.6x 590.0% 0.0% OK
CH4 246 4232 17.2x 1280.0% 0.0% OK
CH5 66 454 6.9x 790.0% 0.0% OK
CH6 86 388 4.5x 1180.0% 0.0% OK
右手 — 144,242 samples / 149s / 967Hz
Overall: PASS | Rate: 967Hz | 包间隔 >2ms: 10302 处 (7.1%) | IMU |g|: 992.2
「包间隔」= 相邻采样点间隔超过 2 毫秒的次数。腕带按每包约 14 个采样点发送，包与包之间天然存在该量级的间隔，因此该比例接近 1/14（约 7.1%）属正常传输特征，不代表数据丢失；明显高于该水平才提示丢包。
Channel Mean RMS Max RMS Dynamic Range Activation% Saturation% Status
CH1 116 2297 19.8x 1140.0% 0.0% OK
CH2 134 871 6.5x 1010.0% 0.0% OK
CH3 193 1713 8.9x 1310.0% 0.0% OK
CH4 239 1572 6.6x 1410.0% 0.0% OK
CH5 56 515 9.2x 1530.0% 0.0% OK
CH6 61 565 9.3x 1410.0% 0.0% OK

抓取力代理 (MVC 归一化)

左手抓取力代理
Left hand grip force
右手抓取力代理
Right hand grip force
设备参数
设备型号CEREBLINK NB3
EMG 通道6ch sEMG
EMG 采样率1000 Hz
IMU9-axis @143Hz (Accel + Gyro + Mag)
连接方式BLE GATT
佩戴位置双前臂 (L+R)
LeRobot v3.0 特征映射
observation.state.left_force(3,) EMG 力代理
observation.state.right_force(3,) EMG 力代理
observation.state.left_tactile(48,) 6ch×8 features
observation.state.right_tactile(48,) 6ch×8 features
observation.state.gripper_force(2,) L/R 抓取力
EMG 时域特征RMS, MAV, WL, ZC, SSC
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
L1
Frame Sync
✓ Complete
L2
L2
ORB-SLAM3
✓ Complete
L3
L3
Hands23
✓ Complete
L3b
L3b
WiLoR
✓ Complete
L3c
L3c
HaWoR
✓ Complete
L4
L4
GPT-4.1
✓ Complete
L5
L5
QC 91.7%
✓ Complete
L6
L6
LeRobot v3
✓ Complete
DONE
DONE
Export
✓ Complete