dataset category

[chenleexyz]

I notices the paper has partitioned the benchmark datasets into 3 categories (easy, medium, hard), but where can I find which dataset belongs to which category?

[puzzlepaint]

I am sorry for the slow reply, I was busy moving to another country and I am catching up with messages now. Please find our suggested difficulty mapping for the datasets attached (in Python format). Notice that this only applies for the used modalities from the paper; for example, if one in addition used the IMU data, or used only the color data but not the depth data, then those difficulty estimates might be different.

# Mapping from dataset name to difficulty level:
# 0: easy
# 1: medium
# 2: hard
# 3: structure-from-motion
dataset_to_difficulty = {
    'kidnap_2' : 2
    'kidnap_1' : 2
    'einstein_global_light_changes_3' : 1
    'einstein_global_light_changes_2' : 0
    'einstein_global_light_changes_1' : 1
    'table_local_light_changes' : 1
    'foreground_occlusion' : 1
    'table_1' : 0
    'large_loop_3' : 2
    'motion_1' : 2
    'desk_dark_1' : 1
    'camera_shake_1' : 2
    'camera_shake_3' : 2
    'camera_shake_2' : 2
    'cables_5' : 2
    'cables_4' : 2
    'sofa_dark_2' : 1
    'sofa_dark_3' : 1
    'sofa_dark_1' : 1
    'large_non_loop' : 2
    'desk_2' : 2
    'boxes_dark' : 1
    'repetitive' : 1
    'boxes' : 0
    'planar_1' : 2
    'table_3' : 0
    'table_4' : 0
    'large_loop_1' : 2
    'drone' : 0
    'kidnap_dark' : 2
    'plant_dark' : 1
    'planar_2' : 0
    'trashbin' : 0
    'planar_3' : 1
    'table_global_light_changes' : 1
    'einstein_flashlight' : 1
    'table_2' : 1
    'scale_change' : 2
    'sofa_shake' : 1
    'mannequin_face_2' : 0
    'lamp' : 2
    'reflective_1' : 2
    'desk_1' : 0
    'table_7' : 0
    'table_scene' : 1
    'sofa_4' : 1
    'buddha' : 0
    'dino' : 1
    'sofa_1' : 1
    'sofa_2' : 1
    'sofa_3' : 1
    'desk_ir_light' : 0
    'desk_changing_1' : 1
    'einstein_2' : 1
    'einstein_1' : 0
    'motion_3' : 2
    'helmet' : 0
    'ceiling_1' : 2
    'desk_dark_2' : 2
    'ceiling_2' : 2
    'plant_scene_2' : 1
    'plant_scene_3' : 1
    'vicon_light_2' : 2
    'plant_scene_1' : 1
    'mannequin_1' : 1
    'mannequin_7' : 2
    'cables_3' : 1
    'cables_2' : 1
    'mannequin_4' : 2
    'mannequin_5' : 2
    'mannequin_3' : 1
    'einstein_dark' : 1
    'desk_global_light_changes' : 1
    'desk_3' : 2
    'sfm_lab_room_1' : 3
    'sfm_lab_room_2' : 3
    'vicon_light_1' : 1
    'desk_changing_2' : 1
    'motion_4' : 2
    'motion_2' : 1
    'sfm_bench' : 3
    'plant_4' : 0
    'plant_5' : 0
    'plant_1' : 0
    'plant_2' : 0
    'plant_3' : 0
    'sfm_house_loop' : 3
    'mannequin_face_1' : 0
    'mannequin_face_3' : 2
    'cables_1' : 0
    'table_6' : 0
    'table_5' : 0
    'large_loop_2' : 2
    'sfm_garden' : 3
    'reflective_2' : 2
    'mannequin_head' : 2
    }

[chenleexyz]

Thanks for your reply!