About AstroVision is a first of a kind, large scale dataset of real small body images from both legacy and ongoing deep space missions, which currently features 115,970 densely annotated, real images of sixteen small bodies from eight missions. AstroVision was developed to facilitate the study of computer vision and deep learning for autonomous navigation in the vicinity of a small body, with speicial emphasis on training and evaluation of deep learning based keypoint detection and feature description methods. If you find our datasets useful for your research, please cite the AstroVision paper: Please make sure to like the respository to show support! Data format Following the popular COLMAP data format, each data segment contains the files images.bin , cameras.bin , and points3D.bin , which contain the camera extrinsics and keypoints, camera intrinsics, and 3D point cloud data, respectively. cameras.bin encodes a dictionary of camera id and Camera pairs. Camera objects are structured as follows: Camera.id : defines the unique (and possibly noncontiguious) identifier for the Camera . Camera.model : the camera model. We utilize the "PINHOLE" camera model, as AstroVision contains und…
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