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_180753

Recording #180753 Pipeline Report

2026-09-03 ~382.4s @ 30fps Orbbec Femto Bolt ?x? Fisheye

11,343

Frames

Left+Right synced pairs

97.5

Contact Ratio (%)

11055/11343 frames

91.7%

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

11,343 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)

11342 segments

双目同步误差分布

LR diff histogram (11343 pairs)

帧间隔时序

参考线: 33.333ms

双目同步质量

同步帧对11,343 pairs

原始左目11343 frames

原始右目11344 frames (trimmed 0)

LR max diff0 μs

LR mean diff0 μs

LR std diff0.0 μs

IMU 集成

IMU 分段数11342

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)

11341 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

11,341

Pose Count

100.0% coverage (11341/11343)

50.199

总路程 (m)

avg 0.1313 m/s

0.944 × 0.314 × 0.683

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 count11,341

Coverage100.0% (11341/11343)

总路程50.199 m

平均速度0.1313 m/s

Bounding Box0.944 × 0.314 × 0.683 m

MethodStereo（纯双目）

LensKannalaBrandt8 (Fisheye)

IMU 分段11342 segs

L3

手物交互检测 (Hands23)

97.5% contact

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

97.5%

接触帧占比

11055 / 11343 frames

2

动作片段数

有效交互片段

21,269

原始手检测

ghost 676 (3.2%) 已清理

Grasp 类型分布

Contact 分布

L3b

3D 手骨骼重建 (WiLoR)

21,683 hands

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

21,683

Hands detected

across 11343 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)

11341 frames

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

180753 · Left & Right Wrist 3D Trajectory 11341 frames · 382.4s

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11341/11341

X range[-1.106, 3.125] m

Y range[-0.927, 2.611] m

Z range[-3.899, -0.178] m

Mean pos(0.08, -0.35, -0.57)

右手腕 (Right Wrist)

有效帧11341/11341

X range[-0.282, 0.582] m

Y range[-0.87, 0.305] m

Z range[-1.279, -0.023] m

Mean pos(0.22, -0.3, -0.65)

L4

语义标注 (gpt-4.1)

190/190 ✓

关键帧采样 | 物体识别 + 动作分类 + 任务阶段

190

标注帧数

190/190 (100%)

111

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 (111 类)

beige_clothingbeige_coatbeige_garmentbeige_jacketbeige_pantsbeige_shirtblack_and_white_clothesblack_clothblack_clothesblack_clothingblack_clothing_itemblack_dressblack_garmentblack_jacketblack_pantsblack_striped_shirtblazerbottlebottle_waterbottle_water_packbottled_waterboxbriefcasecardboard_boxclothesclothes_in_suitcaseclothes_pileclothes_rackclothes_stackclothingclothing_itemclothing_itemsclothing_pileclothing_stackcoatcoat_rackdark_clothing_itemdark_garmentdocumentdressfabric_piecefolded_blousefolded_clothesfolded_clothingfolded_clothing_itemfolded_jacketfolded_shirtfolded_shirt_1folded_shirt_2folded_shirtsfolded_sweaterfolderglassglassesgray_baggray_jacketgray_pantsgreen_garmenthangerhanger_rackjacketlaptoplaptop_baglight_shirtmetal_briefcasemobile_phonemonitornotebookopen_suitcasepantspaperpenphonepile_of_clothespill_bottlerulershirtshirt_1shirt_2shirt_pileshirt_stacksmartphonesnack_boxsnack_packagestack_of_clothesstriped_pantsstriped_shirtsuit_jacketsuitcasesweatersweater_darksweater_whitet-shirttelevisiontissue_boxtoweltshirtumbrellaunfolded_clothingwater_bottlewater_bottle_packwater_bottleswhite_clothingwhite_clothing_itemwhite_dresswhite_garmentwhite_jacketwhite_shirtwhite_sweaterwhite_towelwhite_tshirt

逐帧语义标注详情

190 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_positive11343 pairs

✓L1timestamps_monotonic

✓L1lr_sync_qualityp99=0μs, mean=0.0μs, max=0μs

✓L1frame_interval_stabilitymean=33.333ms, std=0.000ms

✓L1imu_segments_present11342 segments, 0 accel samples

✓L1→L2pose_coverage100.0% of 11343 frames have a valid camera pose

✓L1→L2trajectory_reasonabledist=50.1990m, bbox=[0.9435, 0.3136, 0.6834], speed=0.1313m/s

⚠L1→L3frame_count_matchL1=11343 vs L3=11342 (off-by-1, last-frame edge)

⚠L1→L3frame_idx_alignment1 L1 frames missing in L3 (tail frames, Hands23 edge)

✓L3contact_ratio_plausible97.5%

✓L3hand_count_rangemax=2 hands/frame (clean)

✓L3action_segments_valid2 segments, all ≥0.3s

✓L3postprocessing_appliedghost_removal=3.2%, smoothing=0%

✓L3→L4keyframe_indices_in_l3All 190 keyframes have L3 data

✓L4annotation_completeness190/190 (100%)

✓L4annotation_schema_validAll 190 annotations have required fields

✓L4objects_detected111 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

11,324

EMG 有效帧

11,343 帧中 99.8% 覆盖

382K

左手 EMG 采样点

6ch × ~34 samples/frame

383K

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 — 382,872 samples / 382s / 1001Hz

Overall: PASS | Rate: 1001Hz | 包间隔 >2ms: 27346 处 (7.1%) | IMU |g|: 984.2

「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	252	4796	19.0x	850.0%	0.0%	OK
CH2	196	1291	6.6x	1020.0%	0.0%	OK
CH3	726	7983	11.0x	1400.0%	0.3%	OK
CH4	243	5660	23.3x	1500.0%	0.0%	OK
CH5	68	477	7.0x	1140.0%	0.0%	OK
CH6	83	703	8.5x	1030.0%	0.0%	OK

右手 — 383,264 samples / 382s / 1002Hz

Overall: PASS | Rate: 1002Hz | 包间隔 >2ms: 27375 处 (7.1%) | IMU |g|: 1008.9

「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	1349	11237	8.3x	1480.0%	1.7%	SATURATED
CH2	166	874	5.3x	910.0%	0.0%	OK
CH3	2016	14984	7.4x	1200.0%	3.7%	SATURATED
CH4	110	1010	9.2x	1080.0%	0.0%	OK
CH5	141	878	6.2x	1310.0%	0.0%	OK
CH6	248	10464	42.1x	1320.0%	0.1%	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 91.7%

✓ Complete

L6

LeRobot v3

✓ Complete

DONE

Export

✓ Complete