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_20260921_191834_cap2

Recording #191834 Pipeline Report

unknown ~295.8s @ 30fps Orbbec Femto Bolt ?x? Fisheye

8,871

Frames

Left+Right synced pairs

99.4

Contact Ratio (%)

8819/8871 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)

L3b 手部骨骼叠加

WiLoR 3D 手骨骼重建叠加至原始视频 | 21 关键点 × 双手

L1

时间同步质量

8,871 pairs

双目帧时间戳精确配对 | 左目参考 | IMU 1000 Hz

7.2

LR Mean Diff (μs)

max=405μs, std=18.2μs

33.333

帧间隔 (ms)

30fps target

1000

IMU 采样率 (Hz)

8870 segments

双目同步误差分布

LR diff histogram (8871 pairs)

帧间隔时序

参考线: 33.333ms

双目同步质量

同步帧对8,871 pairs

原始左目8871 frames

原始右目8871 frames (trimmed 0)

LR max diff405 μs

LR mean diff7.2 μs

LR std diff18.2 μs

IMU 集成

IMU 分段数8870

Accel/帧33.3

采样率1000 Hz

时移补偿-12282 μs

参考相机left_camera

L2

Camera Trajectory (ORB-SLAM3)

8871 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

8,871

Pose Count

100.0% coverage (8871/8871)

22.4715

总路程 (m)

avg 0.076 m/s

1.237 × 0.359 × 0.682

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 count8,871

Coverage100.0% (8871/8871)

总路程22.4715 m

平均速度0.076 m/s

Bounding Box1.237 × 0.359 × 0.682 m

MethodStereo（纯双目）

LensKannalaBrandt8 (Fisheye)

IMU 分段8870 segs

L3

手物交互检测 (Hands23)

99.4% contact

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

99.4%

接触帧占比

8819 / 8871 frames

1

动作片段数

有效交互片段

17,848

原始手检测

ghost 477 (2.7%) 已清理

Grasp 类型分布

Contact 分布

L3b

3D 手骨骼重建 (WiLoR)

18,532 hands

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

18,532

Hands detected

across 8871 frames

2.1

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)

8870 frames

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

191834 · Left & Right Wrist 3D Trajectory 8870 frames · 295.8s

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8870/8870

X range[-0.198, 0.76] m

Y range[-0.769, -0.013] m

Z range[-0.934, -0.27] m

Mean pos(0.16, -0.4, -0.61)

右手腕 (Right Wrist)

有效帧8870/8870

X range[-0.82, 0.658] m

Y range[-1.126, 0.023] m

Z range[-1.69, -0.252] m

Mean pos(0.23, -0.33, -0.69)

L4

语义标注 (gpt-4.1)

148/148 ✓

关键帧采样 | 物体识别 + 动作分类 + 任务阶段

148

标注帧数

148/148 (100%)

158

物体类别

跨帧去重统计

4

任务阶段

grasping, idle, manipulating, reaching

任务阶段分布

物体词表 (158 类)

ID_cardbadgebadge_lanyardblack_cableblack_containerblack_cupblack_cup_or_containerblack_lidblack_lidded_cupblue_clothbookletbottlebottle_of_waterboxbox_of_snackscablecable_bundlecable_management_compartmentcablescard_holdercard_stackcardscharging_adaptercharging_cablecharging_cablescleaning_clothclothcoffee_cupcoffee_cup_blackcoffee_cup_lidcoffee_cup_orangecoffee_cup_yellowcoffee_cupscoiled_cablecolor_swatchescomputer_mousecontainercontainer_lidcupcup_noodlescupscutting_boarddessert_cupdocumentdrink_cupdrink_cupsearbuds_caseearphoneselectronic_accessoryelectronic_deviceenvelopeface_maskfolderforkhand_sanitizerheadphonesindividually_wrapped_snackinstant_noodle_cupkeyboardlanyardlaptoplaptop_caselaptop_matlaptop_sleevelaptop_touchpadmaskmonitormousemouse_padmugmultiple_phonesmultiple_smartphonesnotebookorange_bottleorange_thermospackaged_snackpacketspaper_bagpaper_cuppaper_moneypaper_packetspenphoneplastic_bottleplastic_boxplastic_cardplastic_containerplastic_containersplastic_cupplastic_cup_lidplastic_cup_with_lidplastic_traypower_adapterpower_adapter_with_cablepower_outlet_panelpower_outlet_strippower_striprectangular_objectremote_controlremote_controlsround_devicerubber_bandsample_cardssanitizer_bottlesheet_of_papersignsmall_containersmall_white_boxsmall_white_objectsmartphonesmartphonessnack_boxsnack_containersnack_cupsnack_packagesnack_packagessnack_packetsnack_packetssnack_sachetsspoonstack_of_white_cardssugar_packettablettablet_casetakeaway_coffee_cuptakeaway_cuptakeaway_cupstakeout_bagtakeout_boxtakeout_containertakeout_cuptea_cupthermostissue_boxtransparent_container_lidtraywatchwatch_bandwater_bottlewhite_adapterwhite_boxwhite_cablewhite_cable_bundlewhite_devicewhite_electronic_devicewhite_objectwhite_thermoswireless_earbuds_casewireless_mouseyellow_bottleyellow_containeryellow_cupyellow_green_cupyellow_lidyellow_lid_containeryellow_lidded_containeryellow_lidded_cupyellow_travel_mug

逐帧语义标注详情

148 帧 | gpt-4.1

L5

质量验证

23 pass

质检合格该段已纳入数据集

100.0%

Quality Score

23 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

✓L1frame_count_positive8871 pairs

✓L1timestamps_monotonic

✓L1lr_sync_qualityp99=63μs, mean=7.2μs, max=405μs

✓L1frame_interval_stabilitymean=33.333ms, std=0.018ms

✓L1imu_segments_present8870 segments, 295699 accel samples

✓L1→L2pose_coverage100.0% of 8871 frames have a valid camera pose

✓L1→L2trajectory_reasonabledist=22.4715m, bbox=[1.2369, 0.359, 0.6816], speed=0.0760m/s, 16 keyframes

✓L1→L3frame_count_match8871 frames

✓L1→L3frame_idx_alignment8871 indices aligned

✓L3contact_ratio_plausible99.4%

✓L3hand_count_rangemax=2 hands/frame (clean)

✓L3action_segments_valid1 segments, all ≥0.3s

✓L3postprocessing_appliedghost_removal=2.7%, smoothing=0%

✓L3→L4keyframe_indices_in_l3All 148 keyframes have L3 data

✓L4annotation_completeness148/148 (100%)

✓L4annotation_schema_validAll 148 annotations have required fields

✓L4objects_detected158 unique object categories

✓L4phase_diversity4 phases: ['grasping', 'idle', 'manipulating', 'reaching']

所有检查通过。L1-L4 层质量验证完成。

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