PAIR360: A Paired Dataset of High-Resolution 360° Panoramic Images and LiDAR Scans (fixing)

Geuun Kim, Daeho Kim, Jaeyun Jang, Hyoseok Hwang^*

Kyunghee University AIRLAB
2024

Paper Supplementary Code arXiv

Panorama projection sample video: Sequence0 in College of Physical Education area.

Panorama projection sample video: Sequence3 in College of Life Science area.

Panorama projection sample video: Sequence0 in College of Engineering area.

PAIR360 Dataset

This dataset provides 360 equirectangular image set with LiDAR point cloud from
Insta360 pro2 - Velodyne VLP-32C system

Data

360 equirectangular images (7680 x 3840)
- RGB
- Depth
Fish eye images (3840 x 2880)
- RGB
LiDAR point clouds (32 channels)
Gyroscope and GPS

Weather condition

Sunny
Cloudy
Dawning

Area

We capture 7 areas for 3 times in the Kyunghee University International Campus
- College of Engineering (3.41km)
- College of Life Science (2.45km)
- College of Physical Education (2.07km)
- Central Library (5.33km)
- 1st Dormitory (2.43km)
- 2nd Dormitory (3.32km)
- Parking Lot & Peace Amphitheater (5.46km)

First image description.

Second image description.

Data Directory

Directory layout for a single sequence.

The Insta360 pro2 has six lenses, and they store original fisheye video. we store extract fisheye images and saved each origin'#' folder. The z-axis is front of camera.

Download

Traversal 1.

Area	Sequence	Dataset	Calibration
College of Engineering	0	Dataset	Cali_test
	1	Dataset	1
	2	Dataset	2
	3	Dataset	3
College of Life Science	0	Dataset	0
	1	Dataset	1
	2	Dataset	2
	3	Dataset	3
	4	Dataset	3
College of Physical Education	0	Dataset	0
	1	Dataset	1
	2	Dataset	2
Central Library	0	Dataset	0
1st Dormitory	0	Dataset	0
1st Dormitory	1	Dataset	1
2nd Dormitory	0	Dataset	0
Parking Lot & Peace Amphitheater	0	Dataset	0
Parking Lot & Peace Amphitheater	1	Dataset	1

Traversal 2.

Area	Sequence	Dataset	Calibration
College of Engineering	0	0	0
	1	1	1
	2	2	2
	3	3	3
College of Life Science	0	0	0
	1	1	1
	2	2	2
	3	3	3
College of Physical Education	0	0	0
	1	1	1
	2	2	2
	3	3	3
Central Library	0	0	0
	1	1	1
	2	2	2
	3	3	3
1st Dormitory	0	0	0
	1	1	1
	2	2	2
	3	3	3
2nd Dormitory	0	0	0
	1	1	1
	2	2	2
	3	3	3

Traversal 3.

Area	Sequence	Dataset	Calibration
College of Engineering	0	0	0
	1	1	1
	2	2	2
	3	3	3
College of Life Science	0	0	0
	1	1	1
	2	2	2
	3	3	3
College of Physical Education	0	0	0
	1	1	1
	2	2	2
	3	3	3
Central Library	0	0	0
	1	1	1
	2	2	2
	3	3	3
1st Dormitory	0	0	0
	1	1	1
	2	2	2
	3	3	3
2nd Dormitory	0	0	0
	1	1	1
	2	2	2
	3	3	3
Parking Lot & Peace Amphitheater	0	0	0
	1	1	1
	2	2	2
	3	3	3

License

The PAIR360 dataset is provided under the Open Database License (available here). This means that you are free to use, distribute, modify and create derivative works from this dataset, provided that you give appropriate credit to our work. In addition, any adapted version of this dataset that is used publicly must be released under the same licence, and any redistribution must remain open. When using the PAIR360 dataset, please ensure that you acknowledge our work by citing the referenced paper.

BibTeX

BibTex Code Here