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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_163426

Recording #163426 Pipeline Report

2026-09-03 ~115.1s @ 30fps Orbbec Femto Bolt ?x? Fisheye
3,416
Frames
Left+Right synced pairs
98.2
Contact Ratio (%)
3352/3416 frames
87.5%
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

3,416 pairs

双目帧时间戳精确配对 | 左目参考 | IMU 1000 Hz

0
LR Mean Diff (μs)
max=0μs, std=0.0μs
33.333
帧间隔 (ms)
30fps target
1000
IMU 采样率 (Hz)
3415 segments
双目同步误差分布
LR diff histogram (3416 pairs)
帧间隔时序
参考线: 33.333ms

双目同步质量

同步帧对3,416 pairs
原始左目3428 frames
原始右目3417 frames (trimmed 12)
LR max diff0 μs
LR mean diff0 μs
LR std diff0.0 μs

IMU 集成

IMU 分段数3415
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)

3415 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

3,415
Pose Count
100.0% coverage (3415/3416)
11.7467
总路程 (m)
avg 0.1021 m/s
0.687 × 0.324 × 0.668
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 count3,415
Coverage100.0% (3415/3416)
总路程11.7467 m
平均速度0.1021 m/s
Bounding Box0.687 × 0.324 × 0.668 m
MethodStereo（纯双目）
LensKannalaBrandt8 (Fisheye)
IMU 分段3415 segs
L3

手物交互检测 (Hands23)

98.2% contact

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

98.2%
接触帧占比
3352 / 3416 frames
1
动作片段数
有效交互片段
6,512
原始手检测
ghost 84 (1.3%) 已清理
Grasp 类型分布
Contact 分布
L3b

3D 手骨骼重建 (WiLoR)

6,798 hands

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

6,798
Hands detected
across 3416 frames
2.0
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)

3426 frames

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

163426 · Left & Right Wrist 3D Trajectory 3426 frames · 115.1s
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3426/3426
X range[-0.101, 0.676] m
Y range[-0.897, 0.061] m
Z range[-0.895, -0.023] m
Mean pos(0.12, -0.48, -0.56)

右手腕 (Right Wrist)

有效帧3426/3426
X range[-0.093, 0.591] m
Y range[-0.853, 0.028] m
Z range[-0.975, -0.292] m
Mean pos(0.21, -0.35, -0.65)
L4

语义标注 (gpt-4.1)

58/58 ✓

关键帧采样 | 物体识别 + 动作分类 + 任务阶段

58
标注帧数
58/58 (100%)
61
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 (61 类)
beverage_containerblue_white_containerbottle_capboxcardboard_boxcoffee_cupcondiment_packetcutting_boarddrink_carrierdrink_cupdrink_cupsfood_boxfood_containerjuice_boxkeyboardlaptoplarge_drink_cupmobile_phonemousenapkinnotebookpaper_bagpaper_boxpaper_cupphoneplastic_bagplastic_bottleplastic_bottle_capplastic_boxplastic_containerplastic_cupplastic_trayplastic_utensilsplastic_wrapperrectangular_containersandwich_boxsandwich_packagesandwich_wrappershopping_bagsingle_water_bottlesmartphonesnack_bagsnack_barsnack_boxsnack_packagesnack_packetsnack_wrappersubway_bagsubway_boxtakeaway_boxtakeout_bagtakeout_cuptea_bag_wrappertea_boxtissue_boxtraywater_bottlewater_bottle_capwater_bottle_packyellow_cardyellow_dispenser
逐帧语义标注详情
58 帧 | gpt-4.1
L5

质量验证

21 pass /3 warn
质检 预警 已记录但不阻断收录
l5_verification
87.5%
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_positive3416 pairs
✓L1timestamps_monotonic
✓L1lr_sync_qualityp99=0μs, mean=0.0μs, max=0μs
✓L1frame_interval_stabilitymean=33.333ms, std=0.000ms
✓L1imu_segments_present3415 segments, 0 accel samples
✓L1→L2pose_coverage100.0% of 3416 frames have a valid camera pose
✓L1→L2trajectory_reasonabledist=11.7467m, bbox=[0.6866, 0.324, 0.6685], speed=0.1021m/s
⚠L1→L3frame_count_matchL1=3416 vs L3=3415 (off-by-1, last-frame edge)
⚠L1→L3frame_idx_alignment1 L1 frames missing in L3 (tail frames, Hands23 edge)
✓L3contact_ratio_plausible98.2%
✓L3hand_count_rangemax=2 hands/frame (clean)
✓L3action_segments_valid1 segments, all ≥0.3s
✓L3postprocessing_appliedghost_removal=1.3%, smoothing=0%
⚠L3→L4keyframe_indices_in_l31 tail keyframes beyond L3 range: [3420]
✓L4annotation_completeness58/58 (100%)
✓L4annotation_schema_validAll 58 annotations have required fields
✓L4objects_detected61 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

99.9% 覆盖 ✓

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

3,411
EMG 有效帧
3,416 帧中 99.9% 覆盖
115K
左手 EMG 采样点
6ch × ~34 samples/frame
110K
右手 EMG 采样点
6ch × ~32 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 — 115,206 samples / 115s / 1002Hz
Overall: PASS | Rate: 1002Hz | 包间隔 >2ms: 8228 处 (7.1%) | IMU |g|: 969.3
「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 118 2093 17.8x 1200.0% 0.0% OK
CH2 139 807 5.8x 1180.0% 0.0% OK
CH3 227 3738 16.5x 1330.0% 0.1% OK
CH4 148 2496 16.9x 1530.0% 0.0% OK
CH5 50 351 7.0x 1130.0% 0.0% OK
CH6 52 411 8.0x 1230.0% 0.0% OK
右手 — 110,152 samples / 115s / 957Hz
Overall: PASS | Rate: 957Hz | 包间隔 >2ms: 7867 处 (7.1%) | IMU |g|: 1062.9
「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 182 1045 5.7x 1230.0% 0.0% OK
CH2 247 2684 10.9x 950.0% 0.0% OK
CH3 120 6658 55.4x 770.0% 0.0% OK
CH4 346 9197 26.6x 1340.0% 0.1% OK
CH5 70 359 5.1x 830.0% 0.0% OK
CH6 92 682 7.4x 1330.0% 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 87.5%
✓ Complete
L6
L6
LeRobot v3
✓ Complete
DONE
DONE
Export
✓ Complete