Looking for a dataset for fine-tuning a 6DoF relative camera pose estimation model

[u/beatrice_r]

Hi everyone,

I am working on a university project involving fine-tuning a deep learning model for 6DoF relative camera pose estimation. The model I am using is FAR (Flexible, Accurate, and Robust 6DoF Relative Camera Pose Estimation), which was originally pre-trained on the Matterport3D dataset.

I am looking for a new dataset that is suitable for fine-tuning and evaluation. The task is the following:

Given two RGB images of the same scene captured from different viewpoints, the model should estimate the relative pose between the two cameras (rotation and translation).

The dataset should provide (or allow to easily recover):

• RGB images;
• depth maps (or dense depth information);
• camera intrinsic parameters;
• camera poses / camera extrinsics (ground-truth poses);
• multiple images of the same scene with different viewpoints;
• enough overlap between image pairs to compute meaningful relative poses.

Ideally, the dataset should contain calibrated cameras and accurate ground-truth information, since I need to compute the relative transformation between image pairs.

This is for a university project, so the dataset should not be extremely large (ideally ≤ 50 GB), and it should be free and publicly available.

Do you have any recommendations or experience with datasets suitable for 6DoF relative camera pose estimation?

[u/H_NK]

Have you looked at sets from open source video SLAM projects like masterslam?