Azat Akhmetyanov

Anastasiia Kornilova, Marsel Faizullin, Konstantin Pakulev et al.

We present a dataset of 1000 video sequences of human portraits recorded in real and uncontrolled conditions by using a handheld smartphone accompanied by an external high-quality depth camera. The collected dataset contains 200 people captured in different poses and locations and its main purpose is to bridge the gap between raw measurements obtained from a smartphone and downstream applications, such as state estimation, 3D reconstruction, view synthesis, etc. The sensors employed in data collection are the smartphone's camera and Inertial Measurement Unit (IMU), and an external Azure Kinect DK depth camera software synchronized with sub-millisecond precision to the smartphone system. During the recording, the smartphone flash is used to provide a periodic secondary source of lightning. Accurate mask of the foremost person is provided as well as its impact on the camera alignment accuracy. For evaluation purposes, we compare multiple state-of-the-art camera alignment methods by using a Motion Capture system. We provide a smartphone visual-inertial benchmark for portrait capturing, where we report results for multiple methods and motivate further use of the provided trajectories, available in the dataset, in view synthesis and 3D reconstruction tasks.

Marsel Faizullin, Anastasiia Kornilova, Azat Akhmetyanov et al.

Nowadays, smartphones can produce a synchronized (synced) stream of high-quality data, including RGB images, inertial measurements, and other data. Therefore, smartphones are becoming appealing sensor systems in the robotics community. Unfortunately, there is still the need for external supporting sensing hardware, such as a depth camera precisely synced with the smartphone sensors. In this paper, we propose a hardware-software recording system that presents a heterogeneous structure and contains a smartphone and an external depth camera for recording visual, depth, and inertial data that are mutually synchronized. The system is synced at the time and the frame levels: every RGB image frame from the smartphone camera is exposed at the same moment of time with a depth camera frame with sub-millisecond precision. We provide a method and a tool for sync performance evaluation that can be applied to any pair of depth and RGB cameras. Our system could be replicated, modified, or extended by employing our open-sourced materials.

Azat Akhmetyanov, Anastasiia Kornilova, Marsel Faizullin et al.

This paper addresses the problem of building an affordable easy-to-setup synchronized multi-view camera system, which is in demand for many Computer Vision and Robotics applications in high-dynamic environments. In our work, we propose a solution for this problem -- a publicly-available Android application for synchronized video recording on multiple smartphones with sub-millisecond accuracy. We present a generalized mathematical model of timestamping for Android smartphones and prove its applicability on 47 different physical devices. Also, we estimate the time drift parameter for those smartphones, which is less than 1.2 msec per minute for most of the considered devices, that makes smartphones' camera system a worthy analog for professional multi-view systems. Finally, we demonstrate Android-app performance on the camera system built from Android smartphones quantitatively on setup with lights and qualitatively -- on panorama stitching task.