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_175635

Recording #175635 Pipeline Report

2026-09-03 ~351.4s @ 30fps Orbbec Femto Bolt ?x? Fisheye

10,416

Frames

Left+Right synced pairs

96.2

Contact Ratio (%)

10020/10416 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)

L1

时间同步质量

10,416 pairs

双目帧时间戳精确配对 | 左目参考 | IMU 1000 Hz

328.8

LR Mean Diff (μs)

max=33008μs, std=320.2μs

33.333

帧间隔 (ms)

30fps target

1000

IMU 采样率 (Hz)

10415 segments

双目同步误差分布

LR diff histogram (10416 pairs)

帧间隔时序

参考线: 33.333ms

双目同步质量

同步帧对10,416 pairs

原始左目10418 frames

原始右目10419 frames (trimmed 2)

LR max diff33008 μs

LR mean diff328.8 μs

LR std diff320.2 μs

IMU 集成

IMU 分段数10415

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)

10415 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

10,415

Pose Count

100.0% coverage (10415/10416)

47.5159

总路程 (m)

avg 0.1352 m/s

0.708 × 0.247 × 0.649

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 count10,415

Coverage100.0% (10415/10416)

总路程47.5159 m

平均速度0.1352 m/s

Bounding Box0.708 × 0.247 × 0.649 m

MethodStereo（纯双目）

LensKannalaBrandt8 (Fisheye)

IMU 分段10415 segs

L3

手物交互检测 (Hands23)

96.2% contact

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

96.2%

接触帧占比

10020 / 10416 frames

3

动作片段数

有效交互片段

19,175

原始手检测

ghost 966 (5.0%) 已清理

Grasp 类型分布

Contact 分布

L3b

3D 手骨骼重建 (WiLoR)

19,950 hands

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

19,950

Hands detected

across 10416 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)

10416 frames

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

175635 · Left & Right Wrist 3D Trajectory 10416 frames · 351.4s

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10416/10416

X range[-0.192, 1.231] m

Y range[-0.83, 0.263] m

Z range[-0.999, -0.147] m

Mean pos(0.1, -0.39, -0.57)

右手腕 (Right Wrist)

有效帧10416/10416

X range[-0.285, 0.956] m

Y range[-0.971, 0.371] m

Z range[-1.143, -0.255] m

Mean pos(0.24, -0.3, -0.66)

L4

语义标注 (gpt-4.1)

174/174 ✓

关键帧采样 | 物体识别 + 动作分类 + 任务阶段

174

标注帧数

174/174 (100%)

112

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 (112 类)

bagbeige_blazerbeige_clothingbeige_clothing_itembeige_coatbeige_garmentbeige_jacketbeige_pantsbeige_pants_2beige_shirtblack_clothesblack_clothingblack_clothing_itemblack_dressblack_fabric_itemblack_garmentblack_patterned_topblack_striped_shirtblazerbottlebriefcasechairclothesclothes_pileclothes_stackclothingclothing_itemclothing_pileclothing_stackcoat_rackdark_clothdark_clothesdark_clothingdark_garmentdark_pantsdocumentdressdrink_bottledrink_cupfolded_clothesfolded_clothes_stackfolded_clothingfolded_clothing_itemfolded_pantsfolded_shirtfolded_shirtsfolded_shirts_in_suitcasegarmentgray_blazergreen_clothing_itemhangerhanger_rackjacketjuice_bottlelaptoplight_blue_garmentlight_purple_clothingmetal_briefcasemobile_phonemonitornotebookopen_boxopen_suitcaseorange_bottleorange_cupother_clothespacking_cubepantspenphonepile_of_clothesrectangular_objectremote_controlrulershirtshirt_lightshirt_stackshirt_stripedsignsmartphonesnack_boxsnack_packagestack_of_clothesstriped_blousestriped_clothstriped_clothingstriped_dressstriped_jacketstriped_pantsstriped_shirtsuitcasetabletablettelevisiontissue_boxtowelunfolded_clothingunfolded_shirtwatchwater_bottlewater_bottle_packwhite_and_black_clotheswhite_blousewhite_clothwhite_clothing_itemwhite_dresswhite_garmentwhite_pillowwhite_shirtwhite_sweaterwhite_topwhite_towel

逐帧语义标注详情

174 帧 | gpt-4.1

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_positive10416 pairs

✓L1timestamps_monotonic

✓L1lr_sync_qualityp99=326μs, mean=328.8μs, max=33008μs

✓L1frame_interval_stabilitymean=33.333ms, std=0.000ms

✓L1imu_segments_present10415 segments, 0 accel samples

✓L1→L2pose_coverage100.0% of 10416 frames have a valid camera pose

✓L1→L2trajectory_reasonabledist=47.5159m, bbox=[0.7075, 0.2469, 0.6495], speed=0.1352m/s

✓L1→L3frame_count_match10416 frames

✓L1→L3frame_idx_alignment10416 indices aligned

✓L3contact_ratio_plausible96.2%

✓L3hand_count_rangemax=2 hands/frame (clean)

✓L3action_segments_valid3 segments, all ≥0.3s

✓L3postprocessing_appliedghost_removal=5.0%, smoothing=0%

✓L3→L4keyframe_indices_in_l3All 174 keyframes have L3 data

✓L4annotation_completeness174/174 (100%)

✓L4annotation_schema_validAll 174 annotations have required fields

✓L4objects_detected112 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

99.8% 覆盖 ✓

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

10,400

EMG 有效帧

10,416 帧中 99.8% 覆盖

351K

左手 EMG 采样点

6ch × ~34 samples/frame

352K

右手 EMG 采样点

6ch × ~34 samples/frame

sEMG 信号分析 — Raw / Filtered / RMS Feature

左手 EMG — 6 通道信号分析

右手 EMG — 6 通道信号分析

左手 — 351,834 samples / 351s / 1001Hz

Overall: PASS | Rate: 1001Hz | 包间隔 >2ms: 25130 处 (7.1%) | IMU |g|: 982.9

「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	286	3375	11.8x	1040.0%	0.1%	OK
CH2	199	1302	6.5x	840.0%	0.0%	OK
CH3	810	12087	14.9x	1260.0%	0.2%	OK
CH4	912	13220	14.5x	1240.0%	0.8%	OK
CH5	74	1158	15.5x	1040.0%	0.0%	OK
CH6	96	904	9.4x	1070.0%	0.0%	OK

右手 — 352,072 samples / 351s / 1002Hz

Overall: PASS | Rate: 1002Hz | 包间隔 >2ms: 25147 处 (7.1%) | IMU |g|: 1007.3

「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	1766	9986	5.7x	1100.0%	4.3%	SATURATED
CH2	180	4274	23.8x	820.0%	0.0%	OK
CH3	2662	11708	4.4x	890.0%	9.8%	SATURATED
CH4	429	3910	9.1x	1190.0%	0.0%	OK
CH5	117	1289	11.0x	1340.0%	0.0%	OK
CH6	966	9027	9.3x	1350.0%	0.8%	OK

抓取力代理 (MVC 归一化)

左手抓取力代理

右手抓取力代理

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

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