We present a challenging dataset, the TartanAir, for robot navigation task and more. The data is collected in photo-realistic simulation environments in the presence of various light conditions, weather and moving objects. By collecting data in simulation, we are able to obtain multi-modal sensor data and precise ground truth labels, including the stereo RGB image, depth image, segmentation, optical flow, camera poses, and LiDAR point cloud. We set up a large number of environments with various styles and scenes, covering challenging viewpoints and diverse motion patterns, which are difficult to achieve by using physical data collection platforms.<\/p>\n","protected":false},"excerpt":{"rendered":"
We present a challenging dataset, the TartanAir, for robot navigation task and more. The data is collected in photo-realistic simulation environments in the presence of various light conditions, weather and moving objects. By collecting data in simulation, we are able to obtain multi-modal sensor data and precise ground truth labels, including the stereo RGB image, […]<\/p>\n","protected":false},"featured_media":0,"template":"","meta":{"msr-url-field":"","msr-podcast-episode":"","msrModifiedDate":"","msrModifiedDateEnabled":false,"ep_exclude_from_search":false,"footnotes":""},"msr-content-type":[3],"msr-research-highlight":[],"research-area":[13556,13562],"msr-publication-type":[193724],"msr-product-type":[],"msr-focus-area":[],"msr-platform":[],"msr-download-source":[],"msr-locale":[268875],"msr-field-of-study":[],"msr-conference":[],"msr-journal":[],"msr-impact-theme":[],"msr-pillar":[],"class_list":["post-669567","msr-research-item","type-msr-research-item","status-publish","hentry","msr-research-area-artificial-intelligence","msr-research-area-computer-vision","msr-locale-en_us"],"msr_publishername":"","msr_edition":"","msr_affiliation":"","msr_published_date":"2020-3-31","msr_host":"","msr_duration":"","msr_version":"","msr_speaker":"","msr_other_contributors":"","msr_booktitle":"","msr_pages_string":"","msr_chapter":"","msr_isbn":"","msr_journal":"","msr_volume":"","msr_number":"","msr_editors":"","msr_series":"","msr_issue":"","msr_organization":"","msr_how_published":"ArXiv","msr_notes":"","msr_highlight_text":"","msr_release_tracker_id":"","msr_original_fields_of_study":"","msr_download_urls":"","msr_external_url":"","msr_secondary_video_url":"","msr_longbiography":"","msr_microsoftintellectualproperty":1,"msr_main_download":"","msr_publicationurl":"","msr_doi":"","msr_publication_uploader":[{"type":"url","viewUrl":"false","id":"false","title":"https:\/\/arxiv.org\/abs\/2003.14338","label_id":"243109","label":0},{"type":"file","viewUrl":"https:\/\/www.microsoft.com\/en-us\/research\/uploads\/prod\/2020\/06\/TartanAir-dataset_2003.14338.pdf","id":"669579","title":"tartanair-dataset_2003-14338","label_id":"243132","label":0}],"msr_related_uploader":"","msr_attachments":[{"id":669579,"url":"https:\/\/www.microsoft.com\/en-us\/research\/uploads\/prod\/2020\/06\/TartanAir-dataset_2003.14338.pdf"}],"msr-author-ordering":[{"type":"text","value":"Wenshan Wang","user_id":0,"rest_url":false},{"type":"text","value":"Delong Zhu","user_id":0,"rest_url":false},{"type":"text","value":"Xiangwei Wang","user_id":0,"rest_url":false},{"type":"text","value":"Yaoyu Hu","user_id":0,"rest_url":false},{"type":"text","value":"Yuheng Qiu","user_id":0,"rest_url":false},{"type":"text","value":"Chen Wang","user_id":0,"rest_url":false},{"type":"text","value":"Yafei Hu","user_id":0,"rest_url":false},{"type":"user_nicename","value":"Ashish Kapoor","user_id":30903,"rest_url":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/microsoft-research\/v1\/researchers?person=Ashish Kapoor"},{"type":"guest","value":"sebastian-scherer","user_id":641982,"rest_url":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/microsoft-research\/v1\/researchers?person=sebastian-scherer"}],"msr_impact_theme":[],"msr_research_lab":[],"msr_event":[661083],"msr_group":[867219],"msr_project":[],"publication":[],"video":[],"download":[669516],"msr_publication_type":"miscellaneous","_links":{"self":[{"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-research-item\/669567"}],"collection":[{"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-research-item"}],"about":[{"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/types\/msr-research-item"}],"version-history":[{"count":1,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-research-item\/669567\/revisions"}],"predecessor-version":[{"id":669573,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-research-item\/669567\/revisions\/669573"}],"wp:attachment":[{"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/media?parent=669567"}],"wp:term":[{"taxonomy":"msr-content-type","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-content-type?post=669567"},{"taxonomy":"msr-research-highlight","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-research-highlight?post=669567"},{"taxonomy":"msr-research-area","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/research-area?post=669567"},{"taxonomy":"msr-publication-type","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-publication-type?post=669567"},{"taxonomy":"msr-product-type","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-product-type?post=669567"},{"taxonomy":"msr-focus-area","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-focus-area?post=669567"},{"taxonomy":"msr-platform","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-platform?post=669567"},{"taxonomy":"msr-download-source","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-download-source?post=669567"},{"taxonomy":"msr-locale","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-locale?post=669567"},{"taxonomy":"msr-field-of-study","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-field-of-study?post=669567"},{"taxonomy":"msr-conference","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-conference?post=669567"},{"taxonomy":"msr-journal","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-journal?post=669567"},{"taxonomy":"msr-impact-theme","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-impact-theme?post=669567"},{"taxonomy":"msr-pillar","embeddable":true,"href":"https:\/\/www.microsoft.com\/en-us\/research\/wp-json\/wp\/v2\/msr-pillar?post=669567"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}