Fusion Dataset#
Fusion dataset represents datasets with data collected from multiple sensors. Typical examples of fusion dataset are some autonomous driving datasets, such as nuScenes and KITTI-tracking.
Fusion dataset is one of the topmost concept in TensorBay format. Each fusion dataset includes a catalog and a certain number of fusion segments.
The corresponding class of fusion dataset is FusionDataset.
fusion dataset format#
The uniform fusion dataset format in TensorBay is defined as follows:
fusion dataset
├── notes
├── catalog
│ ├── subcatalog
│ ├── subcatalog
│ └── ...
├── fusion segment
│ ├── sensors
│ │ ├── sensor
│ │ ├── sensor
│ │ └── ...
│ ├── frame
│ │ ├── data
│ │ └── ...
│ ├── frame
│ │ ├── data
│ │ └── ...
│ └── ...
├── fusion segment
└── ...
notes#
The notes of the fusion dataset is the same as the notes of the dataset.
catalog & subcatalog in fusion dataset#
The catalog of the fusion dataset is the same as the catalog of the dataset.
fusion segment#
There may be several parts in a fusion dataset. In TensorBay format, each part of the fusion dataset is stored in one fusion segment. Each fusion segment contains a certain number of frames and multiple sensors, from which the data inside the fusion segment are collected.
The corresponding class of fusion segment is FusionSegment.
sensor#
Sensor represents the device that collects the data inside the fusion segment. Currently, TensorBay supports four sensor types.(Table. 2)
Supported Sensors |
Corresponding Data Type |
|---|---|
image |
|
image |
|
point cloud |
|
point cloud |
The corresponding class of sensor is Sensor.
frame#
Frame is the structural level next to the fusion segment. Each frame contains multiple data collected from different sensors at the same time.
The corresponding class of frame is Frame.
data in fusion dataset#
Each data inside a frame corresponds to a sensor. And the data of the fusion dataset is the same as the data of the dataset.
example#
To learn more about fusion dataset, please read example of CADC