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_184350

Recording #184350 Pipeline Report

2026-09-03 ~393.5s @ 30fps Orbbec Femto Bolt ?x? Fisheye

11,684

Frames

Left+Right synced pairs

94.6

Contact Ratio (%)

11050/11684 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

11,684 pairs

双目帧时间戳精确配对 | 左目参考 | IMU 1000 Hz

328.5

LR Mean Diff (μs)

max=33008μs, std=302.4μs

33.333

帧间隔 (ms)

30fps target

1000

IMU 采样率 (Hz)

11683 segments

双目同步误差分布

LR diff histogram (11684 pairs)

帧间隔时序

参考线: 33.333ms

双目同步质量

同步帧对11,684 pairs

原始左目11684 frames

原始右目11686 frames (trimmed 0)

LR max diff33008 μs

LR mean diff328.5 μs

LR std diff302.4 μs

IMU 集成

IMU 分段数11683

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)

11683 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

11,683

Pose Count

100.0% coverage (11683/11684)

52.0335

总路程 (m)

avg 0.1322 m/s

0.9 × 0.42 × 0.627

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 count11,683

Coverage100.0% (11683/11684)

总路程52.0335 m

平均速度0.1322 m/s

Bounding Box0.9 × 0.42 × 0.627 m

MethodStereo（纯双目）

LensKannalaBrandt8 (Fisheye)

IMU 分段11683 segs

L3

手物交互检测 (Hands23)

94.6% contact

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

94.6%

接触帧占比

11050 / 11684 frames

5

动作片段数

有效交互片段

20,730

原始手检测

ghost 833 (4.0%) 已清理

Grasp 类型分布

Contact 分布

L3b

3D 手骨骼重建 (WiLoR)

20,660 hands

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

20,660

Hands detected

across 11684 frames

1.8

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)

11682 frames

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

184350 · Left & Right Wrist 3D Trajectory 11682 frames · 393.5s

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11682/11682

X range[-0.59, 1.155] m

Y range[-0.926, 0.25] m

Z range[-1.679, 0.024] m

Mean pos(0.1, -0.3, -0.52)

右手腕 (Right Wrist)

有效帧11682/11682

X range[-1.518, 0.638] m

Y range[-0.846, 0.512] m

Z range[-1.862, -0.171] m

Mean pos(0.19, -0.21, -0.6)

L4

语义标注 (gpt-4.1)

195/195 ✓

关键帧采样 | 物体识别 + 动作分类 + 任务阶段

195

标注帧数

195/195 (100%)

108

物体类别

跨帧去重统计

7

任务阶段

grasping, idle, manipulating, placing, reaching, releasing, transporting

任务阶段分布

物体词表 (108 类)

backpackbagbeige_clothes_stackbeige_clothingbeige_clothing_itembeige_garmentbeige_jacketbeige_pantsbeige_shirtblack_clothblack_clothesblack_clothingblack_clothing_itemblack_dressblack_garmentblack_jacketblack_pantsblack_shirtblousebottle_waterbottled_water_packboxbriefcasecablechaircharging_cablecloth_bagcloth_piececlothesclothes_pileclothes_rackclothes_stackclothingclothing_itemclothing_pileclothing_stackcoat_rackcoffee_cupcupdressenvelopefolded_black_clothingfolded_clothesfolded_clothes_stackfolded_clothingfolded_clothing_itemfolded_shirtfolded_sweaterfolded_white_sweatergarmentglassesgray_clothinggray_jacketgray_pantsgray_shirtgreen_garmentgrey_clothinggrey_clothing_itemhangerhanger_rackjacketlaptoplight_purple_shirtmisc_clothesmobile_phonenotebookopen_suitcasepantspaper_sheetpenphonepile_of_clothespink_shirtplastic_cuprulershirtshirt_pileshirt_stackshortssmall_black_itemssmartphonesnack_packagesoft_itemspray_bottlestack_of_clothesstorage_boxstriped_clothingstriped_clothing_itemstriped_garmentstriped_shirtsuitcasesweatertablettelevisiontietissue_boxunfolded_clotheswater_bottlewater_bottle_packwater_bottleswhite_blousewhite_clothwhite_clothingwhite_clothing_itemwhite_garmentwhite_shirtwhite_sweaterwhite_top

逐帧语义标注详情

195 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

hand_visibility；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_positive11684 pairs

✓L1timestamps_monotonic

✓L1lr_sync_qualityp99=326μs, mean=328.5μs, max=33008μs

✓L1frame_interval_stabilitymean=33.333ms, std=0.000ms

✓L1imu_segments_present11683 segments, 0 accel samples

✓L1→L2pose_coverage100.0% of 11684 frames have a valid camera pose

✓L1→L2trajectory_reasonabledist=52.0335m, bbox=[0.8996, 0.4204, 0.6274], speed=0.1322m/s

⚠L1→L3frame_count_matchL1=11684 vs L3=11683 (off-by-1, last-frame edge)

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

✓L3contact_ratio_plausible94.6%

✓L3hand_count_rangemax=2 hands/frame (clean)

✓L3action_segments_valid5 segments, all ≥0.3s

✓L3postprocessing_appliedghost_removal=4.0%, smoothing=0%

✓L3→L4keyframe_indices_in_l3All 195 keyframes have L3 data

✓L4annotation_completeness195/195 (100%)

✓L4annotation_schema_validAll 195 annotations have required fields

✓L4objects_detected108 unique object categories

✓L4phase_diversity7 phases: ['grasping', 'idle', 'manipulating', 'placing', 'reaching', 'releasing', '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

11,664

EMG 有效帧

11,684 帧中 99.8% 覆盖

393K

左手 EMG 采样点

6ch × ~34 samples/frame

395K

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 — 393,946 samples / 393s / 1001Hz

Overall: PASS | Rate: 1001Hz | 包间隔 >2ms: 28138 处 (7.1%) | IMU |g|: 1033.2

「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	278	6983	25.1x	1410.0%	0.1%	OK
CH2	273	2916	10.7x	1000.0%	0.0%	OK
CH3	149	4288	28.7x	980.0%	0.0%	OK
CH4	452	6690	14.8x	1800.0%	0.2%	OK
CH5	75	672	8.9x	1420.0%	0.0%	OK
CH6	80	648	8.1x	1310.0%	0.0%	OK

右手 — 395,794 samples / 393s / 1006Hz

Overall: PASS | Rate: 1006Hz | 包间隔 >2ms: 28269 处 (7.1%) | IMU |g|: 1009.2

「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	435	6562	15.1x	1720.0%	0.3%	OK
CH2	240	1785	7.4x	600.0%	0.0%	OK
CH3	257	4549	17.7x	1680.0%	0.0%	OK
CH4	584	11719	20.1x	1540.0%	0.1%	OK
CH5	91	539	5.9x	1020.0%	0.0%	OK
CH6	118	1037	8.8x	1340.0%	0.0%	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