├── vision ├── README.md ├── camera_factory_cal.txt ├── RealSense_D435i_rgbd.yaml └── RealSense_D435i_mono.yaml ├── microphone_locations.txt ├── Audio └── README.md ├── README.md └── LICENSE.txt /vision/README.md: -------------------------------------------------------------------------------- 1 | Calibration files for the Intel Realsense D435i camera is given. YAML files provide formatted calibration metrics while the factory settings are given as a .txt file. 2 | -------------------------------------------------------------------------------- /microphone_locations.txt: -------------------------------------------------------------------------------- 1 | 2 | Microphone locations based on the ground truth (mm), mean of all the samples, Grid1 trajectory, 3 | 4 | mic1 = [2446.54251401408, 1739.80661950704, 1153.6641521126] 5 | mic2 = [2878.14385070423, -648.52096387323, 1047.4260647887] 6 | mic3 = [1327.95739056338, -3133.2317347887, 1565.3243452112] 7 | mic4 = [-1055.8958454225, -3545.7212705633, 1108.2233426056] 8 | mic5 = [-3076.5148278169, -59.025663239436, 1371.4998594366] 9 | mic6 = [-2411.8994653521, 2477.19302225352, 1545.0417771126] 10 | mic7 = [2227.64751007042, -756.27448823943, 213.49975288732] 11 | mic8 = [1789.77055676056, -2376.1133505633, 204.724755] 12 | mic9 = [50.1726480281690, -3358.8902147887, 212.66134626760] 13 | mic10 = [-1920.6491216901, -2820.5012708450, 144.30808760563] 14 | mic11 = [-2923.6566768309, 718.361786619719, 147.04922309859] 15 | -------------------------------------------------------------------------------- /Audio/README.md: -------------------------------------------------------------------------------- 1 | # Audio Details 2 | 3 | * The audio recordings are single-channel WAV-files with a sample rate of $96$\kHz and $16$-bit resolution. It can be noted that the raw recordings were 32 bit before being cut to size, possibly recorded at 24 bit resolution. The raw files are not published currently. 4 | * On Grid110 trajectory, microphone 7 shows a period of particular noise overlay. This noise has been seen on other trajectories as well, mostly on microphone 7 and 9. 5 | * The dataset does not state that individual microphone gain has been calibrated to allow signal power as an absolute distance measure. 6 | * It is recommended to assume that microphone locations may change between trajectories. Given locations were retrieved from the raw GT files, and calculated as the mid-point (average) of its two markers. For each trajectory the median X,Y and Z value for each microphone is thought to be a good approximate location. 7 | * The ground truth system may be accurate, but there are occasions where a readout of a microphone location does fluctuate, which is the reason for using median position. 8 | 9 | * Random manual people2 is missing the recording of microphone 4 10 | -------------------------------------------------------------------------------- /vision/camera_factory_cal.txt: -------------------------------------------------------------------------------- 1 | 2 | Values: 3 | 4 | Intrinsic of Color / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16} 5 | Width: 640 6 | Height: 480 7 | PPX: 310.739654541016 8 | PPY: 242.007553100586 9 | Fx: 606.965881347656 10 | Fy: 605.677307128906 11 | Distortion: Inverse Brown Conrady 12 | Coeffs: 0 0 0 0 0 13 | FOV (deg): 55.59 x 43.23 14 | 15 | Intrinsic of Depth / 640x480 / {Z16} 16 | Width: 640 17 | Height: 480 18 | PPX: 316.724456787109 19 | PPY: 237.638137817383 20 | Fx: 380.178619384766 21 | Fy: 380.178619384766 22 | Distortion: Brown Conrady 23 | Coeffs: 0 0 0 0 0 24 | FOV (deg): 80.17 x 64.53 25 | 26 | Extrinsic from Depth To Color: 27 | Rotation Matrix: 28 | 0.999862 0.016589 -0.000550262 29 | -0.0165884 0.999862 0.0010606 30 | 0.00056778 -0.00105133 0.999999 31 | 32 | Translation Vector: 0.0151170706376433 -5.82973698328715e-05 8.52605226100422e-05 33 | 34 | Extrinsic from "Color" To "Depth" : 35 | Rotation Matrix: 36 | 0.999862 -0.0165884 0.00056778 37 | 0.016589 0.999862 -0.00105133 38 | -0.000550262 0.0010606 0.999999 39 | 40 | Translation Vector: -0.0151160033419728 -0.000192398685612716 -7.68802929087542e-05 41 | -------------------------------------------------------------------------------- /vision/RealSense_D435i_rgbd.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | File.version: "1.0" 7 | 8 | Camera.type: "PinHole" 9 | 10 | # Right Camera calibration and distortion parameters (OpenCV) 11 | # Camera1.fx: 628.958 12 | # Camera1.fy: 632.238 13 | # Camera1.cx: 330.433 14 | # Camera1.cy: 240.259 15 | # Camera1.fx: 606.966 # parameters for the color camera 16 | # Camera1.fy: 605.677 17 | # Camera1.cx: 310.740 18 | # Camera1.cy: 242.008 19 | Camera1.fx: 380.178619384766 20 | Camera1.fy: 380.178619384766 21 | Camera1.cx: 316.724456787109 22 | Camera1.cy: 237.638137817383 23 | 24 | # distortion parameters 25 | # Camera1.k1: 0.1594 26 | # Camera1.k2: -0.1195 27 | # Camera1.p1: -0.0110 28 | # Camera1.p2: 0.0118 29 | Camera1.k1: 0.0 30 | Camera1.k2: -0.0 31 | Camera1.p1: -0.0 32 | Camera1.p2: 0.0 33 | 34 | # Camera resolution 35 | Camera.width: 640 36 | Camera.height: 480 37 | 38 | # Camera frames per second 39 | Camera.fps: 15 40 | 41 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 42 | Camera.RGB: 1 43 | 44 | # Close/Far threshold. Baseline times. 45 | Stereo.ThDepth: 40.0 46 | Stereo.b: 0.0745 47 | 48 | # Depth map values factor 49 | RGBD.DepthMapFactor: 1000.0 50 | 51 | #-------------------------------------------------------------------------------------------- 52 | # ORB Parameters 53 | #-------------------------------------------------------------------------------------------- 54 | # ORB Extractor: Number of features per image 55 | ORBextractor.nFeatures: 1500 56 | 57 | # ORB Extractor: Scale factor between levels in the scale pyramid 58 | ORBextractor.scaleFactor: 1.2 59 | 60 | # ORB Extractor: Number of levels in the scale pyramid 61 | ORBextractor.nLevels: 8 62 | 63 | # ORB Extractor: Fast threshold 64 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 65 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 66 | # You can lower these values if your images have low contrast 67 | ORBextractor.iniThFAST: 20 68 | ORBextractor.minThFAST: 7 69 | 70 | #-------------------------------------------------------------------------------------------- 71 | # Viewer Parameters 72 | #-------------------------------------------------------------------------------------------- 73 | Viewer.KeyFrameSize: 0.05 74 | Viewer.KeyFrameLineWidth: 1.0 75 | Viewer.GraphLineWidth: 0.9 76 | Viewer.PointSize: 2.0 77 | Viewer.CameraSize: 0.08 78 | Viewer.CameraLineWidth: 3.0 79 | Viewer.ViewpointX: 0.0 80 | Viewer.ViewpointY: -0.7 81 | Viewer.ViewpointZ: -3.5 82 | Viewer.ViewpointF: 500.0 83 | -------------------------------------------------------------------------------- /vision/RealSense_D435i_mono.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # System config 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # When the variables are commented, the system doesn't load a previous session or not store the current one 8 | 9 | # If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch 10 | #System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono" 11 | 12 | # The store file is created from the current session, if a file with the same name exists it is deleted 13 | #System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono" 14 | 15 | #-------------------------------------------------------------------------------------------- 16 | # Camera Parameters. Adjust them! 17 | #-------------------------------------------------------------------------------------------- 18 | File.version: "1.0" 19 | 20 | Camera.type: "PinHole" 21 | 22 | # Camera calibration and distortion parameters (OpenCV) 23 | Camera1.fx: 458.654 24 | Camera1.fy: 457.296 25 | Camera1.cx: 367.215 26 | Camera1.cy: 248.375 27 | 28 | Camera1.k1: -0.28340811 29 | Camera1.k2: 0.07395907 30 | Camera1.p1: 0.00019359 31 | Camera1.p2: 1.76187114e-05 32 | 33 | Camera.width: 752 34 | Camera.height: 480 35 | 36 | Camera.newWidth: 600 37 | Camera.newHeight: 350 38 | 39 | # Camera frames per second 40 | Camera.fps: 20 41 | 42 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 43 | Camera.RGB: 1 44 | 45 | #-------------------------------------------------------------------------------------------- 46 | # ORB Parameters 47 | #-------------------------------------------------------------------------------------------- 48 | 49 | # ORB Extractor: Number of features per image 50 | ORBextractor.nFeatures: 1000 51 | 52 | # ORB Extractor: Scale factor between levels in the scale pyramid 53 | ORBextractor.scaleFactor: 1.2 54 | 55 | # ORB Extractor: Number of levels in the scale pyramid 56 | ORBextractor.nLevels: 8 57 | 58 | # ORB Extractor: Fast threshold 59 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 60 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 61 | # You can lower these values if your images have low contrast 62 | ORBextractor.iniThFAST: 20 63 | ORBextractor.minThFAST: 7 64 | 65 | #-------------------------------------------------------------------------------------------- 66 | # Viewer Parameters 67 | #--------------------------------------------------------------------------------------------- 68 | Viewer.KeyFrameSize: 0.05 69 | Viewer.KeyFrameLineWidth: 1.0 70 | Viewer.GraphLineWidth: 0.9 71 | Viewer.PointSize: 2.0 72 | Viewer.CameraSize: 0.08 73 | Viewer.CameraLineWidth: 3.0 74 | Viewer.ViewpointX: 0.0 75 | Viewer.ViewpointY: -0.7 76 | Viewer.ViewpointZ: -1.8 77 | Viewer.ViewpointF: 500.0 78 | 79 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Introduction 2 | The **Lund University Vision, Radio, and Audio (LuViRA)** positioning dataset consists of 89 trajectories that are recorded in the Lund University Humanities Lab's Motion Capture (Mocap) Studio using a MIR200 robot as the targeted platform. Each trajectory contains data from four different systems, vision, radio, audio and a ground truth system that can provide within 0.5mm localization accuracy. A Motion Capture (Mocap) system in the environment is used as the ground truth system, which provides 3D or 6DoF tracking of a camera, a single antenna and a speaker. These targets are mounted on top of the MIR200 robot and put in motion. 3D positions of the 11 static microphones are also provided. Since the targets are located on a fixed height on the robot, these trajectories can also naturally be reduced to 2D. 3 | 4 | The main dataset is divided into two parts, "Grid Data" covering the measurement area with line trajectories, and "Random data" that are non-grid trajectories. The "random" trajectores are either manual, unscripted movement or programmed, smooth movement. 5 | 6 | The dataset also provides additional data. One is an audio recording of the background noise (fans) in the environment while everything is static (thus not including any noise from the robot movement). There are also 8 "audio only" trajectories recorded, where only the audio and the ground truth systems are activated, thus reference recordings with less background noise. These recordings did not use the robot, but a human moving the speaker freely in the room. One implication is that there is intentional heigh variation, one is that the environment is inherently dynamic, as the human body may occasionally obstruct the direct path to some ground truth cameras and to some microphones. 7 | 8 | This repository contains the data for our paper: 9 | 10 | **The LuViRA Dataset: Measurement Description** 11 | Ilayda Yaman, Guoda Tian, Martin Larsson, Patrik Persson, Michiel Sandra, Alexander Dürr, Erik Tegler, Nikhil Challa, Henrik Garde, Fredrik Tufvesson, Kalle Åström, Ove Edfors, Steffen Malkowsky, Liang Liu 12 | 13 | # Bibtex 14 | If you find our work to be useful in your research, please consider citing our paper about the dataset: 15 | ``` 16 | @INPROCEEDINGS{10610237, 17 | author={Yaman, Ilayda and Tian, Guoda and Larsson, Martin and Persson, Patrik and Sandra, Michiel and Dürr, Alexander and Tegler, Erik and Challa, Nikhil and Garde, Henrik and Tufvesson, Fredrik and Åström, Kalle and Edfors, Ove and Malkowsky, Steffen and Liu, Liang}, 18 | booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 19 | title={The LuViRA Dataset: Synchronized Vision, Radio, and Audio Sensors for Indoor Localization}, 20 | year={2024}, 21 | pages={11920-11926}, 22 | keywords={Location awareness;Accuracy;Service robots;5G mobile communication;Sensor fusion;Sensors;Trajectory}, 23 | doi={10.1109/ICRA57147.2024.10610237}} 24 | 25 | ``` 26 | For more information about the validation of the dataset, you can refer to our paper: 27 | ``` 28 | @ARTICLE{10599608, 29 | author={Yaman, Ilayda and Tian, Guoda and Tegler, Erik and Gulin, Jens and Challa, Nikhil and Tufvesson, Fredrik and Edfors, Ove and Åström, Kalle and Malkowsky, Steffen and Liu, Liang}, 30 | journal={IEEE Journal of Indoor and Seamless Positioning and Navigation}, 31 | title={LuViRA Dataset Validation and Discussion: Comparing Vision, Radio, and Audio Sensors for Indoor Localization}, 32 | year={2024}, 33 | pages={1-11}, 34 | keywords={Location awareness;Sensors;Accuracy;Cameras;Microphones;Heuristic algorithms;Trajectory;Computer vision;indoor localization;massive MIMO;multi-sensor dataset;SLAM}, 35 | doi={10.1109/JISPIN.2024.3429110}} 36 | ``` 37 | 38 | The radio-based localization algorithms we developed using this dataset: 39 | ``` 40 | @INPROCEEDINGS{tian2023icc, 41 | author={Tian, Guoda and Yaman, Ilayda and Sandra, Michiel and Cai, Xuesong and Liu, Liang and Tufvesson, Fredrik}, 42 | booktitle={ICC 2023 - IEEE International Conference on Communications}, 43 | title={High-Precision Machine-Learning Based Indoor Localization with Massive MIMO System}, 44 | year={2023}, 45 | pages={3690-3695}, 46 | doi={10.1109/ICC45041.2023.10278664}} 47 | ``` 48 | 49 | ``` 50 | @ARTICLE{10330061, 51 | author={Tian, Guoda and Yaman, Ilayda and Sandra, Michiel and Cai, Xuesong and Liu, Liang and Tufvesson, Fredrik}, 52 | journal={IEEE Transactions on Machine Learning in Communications and Networking}, 53 | title={Deep-Learning-Based High-Precision Localization With Massive MIMO}, 54 | year={2024}, 55 | volume={2}, 56 | number={}, 57 | pages={19-33}, 58 | keywords={Location awareness;Fingerprint recognition;Covariance matrices;Training;Massive MIMO;Task analysis;Neural networks;Channel measurements;deep learning;localization;massive MIMO}, 59 | doi={10.1109/TMLCN.2023.3334712}} 60 | ``` 61 | 62 | # Description 63 | 64 | Being a realistic dataset, there are imperfections that should be kept in mind when using it. 65 | For detailed measurement log, please see: 66 | 67 | https://docs.google.com/spreadsheets/d/1Wo1emus49q3nXsXXXrSd7V33IDcYeVu4-jj-yxmDW6Y/edit?usp=sharing 68 | 69 | This document has comments and temperature for each trajectory, as well as indicating what audio was used and the section cut out from raw files. If needed, the structured text file can be downloaded and read programmatically. 70 | 71 | ### Snapshot Rate of different systems ### 72 | Ground truth system -> 100Hz 73 | Camera -> color-30fps, infra/depth-15fps, gyro-400Hz, accel-100Hz 74 | Wireless -> 100Hz 75 | Sound -> 96 kHz 76 | 77 | ### Post-processing Remarks ## 78 | 79 | For convenience, the published data are (in most cases) not the raw recordings, but processed so the systems align in time. 80 | Each trajectory is cut from 1 second before the movement starts to 1 second after the movement ends: [movement_start-1s : movement_end+1s] 81 | 82 | The RGB images and depth maps are extracted from the rosbags and aligned as .png files as a part of the post-processing step. 83 | 84 | To assist with collecting the information from various sources in the camera and performing necessary format conversion, we have created a separate script that handles the conversion automatically: https://github.com/niil87/Nik_OrbSlam. 85 | 86 | # Data Structure 87 | 88 | ## Grid Data/Trajectories 89 | 90 | 75 trajectories where the robot moves back and forth in a (mostly) straight line (while facing the same side of the studio). The ''Grid120" trajectory was deleted from the radio system since the synchronization was lost between the LuMaMi and UE. The files for ground truth vision and audio systems are kept for completeness. 91 | 92 | Named as: Grid101, Grid102, ..., Grid176. 93 | 94 | ## Random Data/Trajectories 95 | 96 | 14 trajectories were recorded with different movement patterns. Some of the trajectories involve people moving around in the effective area. 97 | 98 | List of the trajectories: 99 | 100 | 1. Random_Rect1 101 | 2. Random_Rect2 102 | 3. Random_diag1 103 | 4. Random_diag2 104 | 5. Random_manual_people1 105 | 6. Random_manual_people2 106 | 7. Random_L 107 | 8. Random_U 108 | 9. Random_manual3 109 | 10. Random_manual4 110 | 11. Random_manual5 111 | 12. Random_circle1 112 | 13. Random_circle2 113 | 14. Random_manual_people6 114 | 115 | ## Additional Data 116 | 117 | List of additional data provided with the dataset 118 | 1. "Audio only" data (with ground truth), using speech or one of two different music signals. These additional recordings and corresponding GT are available only in raw form. 119 | - music0001 120 | - music0002 121 | - music0003 122 | - music0004 123 | - speech0001 124 | - speech0002 125 | - speech0003 126 | - speech0004 127 | 128 | 2. "Audio noise" data: Background noise in the environment 129 | 130 | # Storage 131 | 132 | You can access the LuViRA dataset from: 133 | 134 | http://download.eit.lth.se/LuViRA_dataset/ 135 | 136 | Username: download 137 | Password: download 138 | 139 | Overall, the LuViRA dataset is stored as: 140 | 141 | ``` 142 | LuViRA_dataset 143 | └── Mono_grid.zip # vision system - monocular (RGB or color) images, Grid trajectories 144 | └── Mono_random.zip # vision system - monocular (RGB or color) images, Random trajectories 145 | └── RGB-D_grid.zip # vision system - Depth maps and RGB or color images, Grid trajectories 146 | └── RGB-D_random.zip # vision system - Depth maps and RGB or color images, Random trajectories 147 | └── Selected_rosbags.zip # vision system - a selected number of raw files 148 | └── Radio.zip # radio system - Grid and Random trajectories 149 | └── Audio_grid.zip # audio system - Grid trajectories 150 | └── Audio_random.zip # audio system - Random trajectories 151 | └── Audio_noise.zip # audio system - additional data, background noise 152 | └── Audio_only.zip # audio system - additional data that includes only the audio sensor 153 | └── Ground_truth.zip # GT system - processed files, time-aligned with each published sensor data 154 | └── Ground_truth_raw.zip # GT system - raw files, each marker position as output from system 155 | ``` 156 | 157 | More detailed data structure with examples from different folders: 158 | 159 | ``` 160 | dataset_directory 161 | └── vision # the name of the .png files are the true timestamps provided by the NTP server 162 | └── Mono_grid 163 | └── RealSense_D435i_mono.yaml 164 | └── Grid101 165 | └── mav0/cam0/data/ 166 | └── data.csv 167 | └── 1651916361.263793945.png 168 | └── 1651916361.297067165.png 169 | └── ... 170 | └── Grid102 171 | └── ... 172 | └── Mono_random 173 | └── RGB-D_grid 174 | └── RealSense_D435i_rgbd.yaml 175 | └── Grid101 176 | └── associations.txt 177 | └── rgb 178 | └── data.csv 179 | └── 1651916361.263793945.png 180 | └── 1651916361.330339432.png 181 | └── ... 182 | └── depth 183 | └── data.csv 184 | └── 1651916361.263793945.png 185 | └── 1651916361.330339432.png 186 | └── ... 187 | └── Grid102 188 | └── ... 189 | └── RGB-D_random 190 | └── Selected_rosbags 191 | └── radio # formatted as (100,100,100) -> (time, frequency, antenna) 192 | └── Grid101.mat 193 | └── Grid102.mat 194 | └── ... 195 | └── audio_grid # 12 Microphones + 13th recording is the start signal from the ground truth system (Sync) 196 | └── Grid101 197 | └── Sync.wav 198 | └── Track 1.wav 199 | └── Track 2.wav 200 | └── ... 201 | └── Grid102 202 | └── ... 203 | └── audio_random # 12 Microphones + 13th recording is the start signal from the ground truth system (Sync) 204 | └── ground_truth 205 | └── extracted 206 | └── Grid101.csv 207 | └── Grid102.csv 208 | └── ... 209 | └── raw 210 | └── 3D 211 | └── Grid0101.tsv 212 | └── Grid0102.tsv 213 | └── ... 214 | └── 6D 215 | └── Grid0101_6D.tsv 216 | └── Grid0102_6D.tsv 217 | └── ... 218 | ``` 219 | 220 | # Notes 221 | 222 | 1. **For the vision system:** Only a selected number of rosbag files are given. Other rosbag files can be provided on request. The files occupy approximately 900GB of space. 223 | 2. **Format of the processed ground truth system files:** ''Rot" stands for the 3x3 rotation matrix 224 | ``` 225 | # timestamps, X, Y, Z, Roll, Pitch, Yaw, Residual, Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8] 226 | ``` 227 | 3. **Separately tracked:** Although the camera, antenna and speaker follow the robot trajectory, do note that they are distinct objects with separate ground truth trajectories, and their orientation also does not neccesarily match the orientation of the robot (direction of travel). Being fixed on the robot, a rigid 6DoF tranformation should be able to align them however. 228 | 229 | -------------------------------------------------------------------------------- /LICENSE.txt: -------------------------------------------------------------------------------- 1 | Attribution 4.0 International 2 | 3 | ======================================================================= 4 | 5 | Creative Commons Corporation ("Creative Commons") is not a law firm and 6 | does not provide legal services or legal advice. Distribution of 7 | Creative Commons public licenses does not create a lawyer-client or 8 | other relationship. Creative Commons makes its licenses and related 9 | information available on an "as-is" basis. Creative Commons gives no 10 | warranties regarding its licenses, any material licensed under their 11 | terms and conditions, or any related information. Creative Commons 12 | disclaims all liability for damages resulting from their use to the 13 | fullest extent possible. 14 | 15 | Using Creative Commons Public Licenses 16 | 17 | Creative Commons public licenses provide a standard set of terms and 18 | conditions that creators and other rights holders may use to share 19 | original works of authorship and other material subject to copyright 20 | and certain other rights specified in the public license below. The 21 | following considerations are for informational purposes only, are not 22 | exhaustive, and do not form part of our licenses. 23 | 24 | Considerations for licensors: Our public licenses are 25 | intended for use by those authorized to give the public 26 | permission to use material in ways otherwise restricted by 27 | copyright and certain other rights. Our licenses are 28 | irrevocable. Licensors should read and understand the terms 29 | and conditions of the license they choose before applying it. 30 | Licensors should also secure all rights necessary before 31 | applying our licenses so that the public can reuse the 32 | material as expected. Licensors should clearly mark any 33 | material not subject to the license. This includes other CC- 34 | licensed material, or material used under an exception or 35 | limitation to copyright. More considerations for licensors: 36 | wiki.creativecommons.org/Considerations_for_licensors 37 | 38 | Considerations for the public: By using one of our public 39 | licenses, a licensor grants the public permission to use the 40 | licensed material under specified terms and conditions. If 41 | the licensor's permission is not necessary for any reason--for 42 | example, because of any applicable exception or limitation to 43 | copyright--then that use is not regulated by the license. Our 44 | licenses grant only permissions under copyright and certain 45 | other rights that a licensor has authority to grant. Use of 46 | the licensed material may still be restricted for other 47 | reasons, including because others have copyright or other 48 | rights in the material. A licensor may make special requests, 49 | such as asking that all changes be marked or described. 50 | Although not required by our licenses, you are encouraged to 51 | respect those requests where reasonable. More_considerations 52 | for the public: 53 | wiki.creativecommons.org/Considerations_for_licensees 54 | 55 | ======================================================================= 56 | 57 | Creative Commons Attribution 4.0 International Public License 58 | 59 | By exercising the Licensed Rights (defined below), You accept and agree 60 | to be bound by the terms and conditions of this Creative Commons 61 | Attribution 4.0 International Public License ("Public License"). To the 62 | extent this Public License may be interpreted as a contract, You are 63 | granted the Licensed Rights in consideration of Your acceptance of 64 | these terms and conditions, and the Licensor grants You such rights in 65 | consideration of benefits the Licensor receives from making the 66 | Licensed Material available under these terms and conditions. 67 | 68 | 69 | Section 1 -- Definitions. 70 | 71 | a. Adapted Material means material subject to Copyright and Similar 72 | Rights that is derived from or based upon the Licensed Material 73 | and in which the Licensed Material is translated, altered, 74 | arranged, transformed, or otherwise modified in a manner requiring 75 | permission under the Copyright and Similar Rights held by the 76 | Licensor. For purposes of this Public License, where the Licensed 77 | Material is a musical work, performance, or sound recording, 78 | Adapted Material is always produced where the Licensed Material is 79 | synched in timed relation with a moving image. 80 | 81 | b. Adapter's License means the license You apply to Your Copyright 82 | and Similar Rights in Your contributions to Adapted Material in 83 | accordance with the terms and conditions of this Public License. 84 | 85 | c. Copyright and Similar Rights means copyright and/or similar rights 86 | closely related to copyright including, without limitation, 87 | performance, broadcast, sound recording, and Sui Generis Database 88 | Rights, without regard to how the rights are labeled or 89 | categorized. For purposes of this Public License, the rights 90 | specified in Section 2(b)(1)-(2) are not Copyright and Similar 91 | Rights. 92 | 93 | d. Effective Technological Measures means those measures that, in the 94 | absence of proper authority, may not be circumvented under laws 95 | fulfilling obligations under Article 11 of the WIPO Copyright 96 | Treaty adopted on December 20, 1996, and/or similar international 97 | agreements. 98 | 99 | e. Exceptions and Limitations means fair use, fair dealing, and/or 100 | any other exception or limitation to Copyright and Similar Rights 101 | that applies to Your use of the Licensed Material. 102 | 103 | f. Licensed Material means the artistic or literary work, database, 104 | or other material to which the Licensor applied this Public 105 | License. 106 | 107 | g. Licensed Rights means the rights granted to You subject to the 108 | terms and conditions of this Public License, which are limited to 109 | all Copyright and Similar Rights that apply to Your use of the 110 | Licensed Material and that the Licensor has authority to license. 111 | 112 | h. Licensor means the individual(s) or entity(ies) granting rights 113 | under this Public License. 114 | 115 | i. Share means to provide material to the public by any means or 116 | process that requires permission under the Licensed Rights, such 117 | as reproduction, public display, public performance, distribution, 118 | dissemination, communication, or importation, and to make material 119 | available to the public including in ways that members of the 120 | public may access the material from a place and at a time 121 | individually chosen by them. 122 | 123 | j. Sui Generis Database Rights means rights other than copyright 124 | resulting from Directive 96/9/EC of the European Parliament and of 125 | the Council of 11 March 1996 on the legal protection of databases, 126 | as amended and/or succeeded, as well as other essentially 127 | equivalent rights anywhere in the world. 128 | 129 | k. You means the individual or entity exercising the Licensed Rights 130 | under this Public License. Your has a corresponding meaning. 131 | 132 | 133 | Section 2 -- Scope. 134 | 135 | a. License grant. 136 | 137 | 1. Subject to the terms and conditions of this Public License, 138 | the Licensor hereby grants You a worldwide, royalty-free, 139 | non-sublicensable, non-exclusive, irrevocable license to 140 | exercise the Licensed Rights in the Licensed Material to: 141 | 142 | a. reproduce and Share the Licensed Material, in whole or 143 | in part; and 144 | 145 | b. produce, reproduce, and Share Adapted Material. 146 | 147 | 2. Exceptions and Limitations. For the avoidance of doubt, where 148 | Exceptions and Limitations apply to Your use, this Public 149 | License does not apply, and You do not need to comply with 150 | its terms and conditions. 151 | 152 | 3. Term. The term of this Public License is specified in Section 153 | 6(a). 154 | 155 | 4. Media and formats; technical modifications allowed. The 156 | Licensor authorizes You to exercise the Licensed Rights in 157 | all media and formats whether now known or hereafter created, 158 | and to make technical modifications necessary to do so. The 159 | Licensor waives and/or agrees not to assert any right or 160 | authority to forbid You from making technical modifications 161 | necessary to exercise the Licensed Rights, including 162 | technical modifications necessary to circumvent Effective 163 | Technological Measures. For purposes of this Public License, 164 | simply making modifications authorized by this Section 2(a) 165 | (4) never produces Adapted Material. 166 | 167 | 5. Downstream recipients. 168 | 169 | a. Offer from the Licensor -- Licensed Material. Every 170 | recipient of the Licensed Material automatically 171 | receives an offer from the Licensor to exercise the 172 | Licensed Rights under the terms and conditions of this 173 | Public License. 174 | 175 | b. No downstream restrictions. You may not offer or impose 176 | any additional or different terms or conditions on, or 177 | apply any Effective Technological Measures to, the 178 | Licensed Material if doing so restricts exercise of the 179 | Licensed Rights by any recipient of the Licensed 180 | Material. 181 | 182 | 6. No endorsement. Nothing in this Public License constitutes or 183 | may be construed as permission to assert or imply that You 184 | are, or that Your use of the Licensed Material is, connected 185 | with, or sponsored, endorsed, or granted official status by, 186 | the Licensor or others designated to receive attribution as 187 | provided in Section 3(a)(1)(A)(i). 188 | 189 | b. Other rights. 190 | 191 | 1. Moral rights, such as the right of integrity, are not 192 | licensed under this Public License, nor are publicity, 193 | privacy, and/or other similar personality rights; however, to 194 | the extent possible, the Licensor waives and/or agrees not to 195 | assert any such rights held by the Licensor to the limited 196 | extent necessary to allow You to exercise the Licensed 197 | Rights, but not otherwise. 198 | 199 | 2. Patent and trademark rights are not licensed under this 200 | Public License. 201 | 202 | 3. To the extent possible, the Licensor waives any right to 203 | collect royalties from You for the exercise of the Licensed 204 | Rights, whether directly or through a collecting society 205 | under any voluntary or waivable statutory or compulsory 206 | licensing scheme. In all other cases the Licensor expressly 207 | reserves any right to collect such royalties. 208 | 209 | 210 | Section 3 -- License Conditions. 211 | 212 | Your exercise of the Licensed Rights is expressly made subject to the 213 | following conditions. 214 | 215 | a. Attribution. 216 | 217 | 1. If You Share the Licensed Material (including in modified 218 | form), You must: 219 | 220 | a. retain the following if it is supplied by the Licensor 221 | with the Licensed Material: 222 | 223 | i. identification of the creator(s) of the Licensed 224 | Material and any others designated to receive 225 | attribution, in any reasonable manner requested by 226 | the Licensor (including by pseudonym if 227 | designated); 228 | 229 | ii. a copyright notice; 230 | 231 | iii. a notice that refers to this Public License; 232 | 233 | iv. a notice that refers to the disclaimer of 234 | warranties; 235 | 236 | v. a URI or hyperlink to the Licensed Material to the 237 | extent reasonably practicable; 238 | 239 | b. indicate if You modified the Licensed Material and 240 | retain an indication of any previous modifications; and 241 | 242 | c. indicate the Licensed Material is licensed under this 243 | Public License, and include the text of, or the URI or 244 | hyperlink to, this Public License. 245 | 246 | 2. You may satisfy the conditions in Section 3(a)(1) in any 247 | reasonable manner based on the medium, means, and context in 248 | which You Share the Licensed Material. For example, it may be 249 | reasonable to satisfy the conditions by providing a URI or 250 | hyperlink to a resource that includes the required 251 | information. 252 | 253 | 3. If requested by the Licensor, You must remove any of the 254 | information required by Section 3(a)(1)(A) to the extent 255 | reasonably practicable. 256 | 257 | 4. If You Share Adapted Material You produce, the Adapter's 258 | License You apply must not prevent recipients of the Adapted 259 | Material from complying with this Public License. 260 | 261 | 262 | Section 4 -- Sui Generis Database Rights. 263 | 264 | Where the Licensed Rights include Sui Generis Database Rights that 265 | apply to Your use of the Licensed Material: 266 | 267 | a. for the avoidance of doubt, Section 2(a)(1) grants You the right 268 | to extract, reuse, reproduce, and Share all or a substantial 269 | portion of the contents of the database; 270 | 271 | b. if You include all or a substantial portion of the database 272 | contents in a database in which You have Sui Generis Database 273 | Rights, then the database in which You have Sui Generis Database 274 | Rights (but not its individual contents) is Adapted Material; and 275 | 276 | c. You must comply with the conditions in Section 3(a) if You Share 277 | all or a substantial portion of the contents of the database. 278 | 279 | For the avoidance of doubt, this Section 4 supplements and does not 280 | replace Your obligations under this Public License where the Licensed 281 | Rights include other Copyright and Similar Rights. 282 | 283 | 284 | Section 5 -- Disclaimer of Warranties and Limitation of Liability. 285 | 286 | a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE 287 | EXTENT POSSIBLE, THE LICENSOR OFFERS THE LICENSED MATERIAL AS-IS 288 | AND AS-AVAILABLE, AND MAKES NO REPRESENTATIONS OR WARRANTIES OF 289 | ANY KIND CONCERNING THE LICENSED MATERIAL, WHETHER EXPRESS, 290 | IMPLIED, STATUTORY, OR OTHER. THIS INCLUDES, WITHOUT LIMITATION, 291 | WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR 292 | PURPOSE, NON-INFRINGEMENT, ABSENCE OF LATENT OR OTHER DEFECTS, 293 | ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT 294 | KNOWN OR DISCOVERABLE. WHERE DISCLAIMERS OF WARRANTIES ARE NOT 295 | ALLOWED IN FULL OR IN PART, THIS DISCLAIMER MAY NOT APPLY TO YOU. 296 | 297 | b. TO THE EXTENT POSSIBLE, IN NO EVENT WILL THE LICENSOR BE LIABLE 298 | TO YOU ON ANY LEGAL THEORY (INCLUDING, WITHOUT LIMITATION, 299 | NEGLIGENCE) OR OTHERWISE FOR ANY DIRECT, SPECIAL, INDIRECT, 300 | INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES, 301 | COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR 302 | USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN 303 | ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR 304 | DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR 305 | IN PART, THIS LIMITATION MAY NOT APPLY TO YOU. 306 | 307 | c. The disclaimer of warranties and limitation of liability provided 308 | above shall be interpreted in a manner that, to the extent 309 | possible, most closely approximates an absolute disclaimer and 310 | waiver of all liability. 311 | 312 | 313 | Section 6 -- Term and Termination. 314 | 315 | a. This Public License applies for the term of the Copyright and 316 | Similar Rights licensed here. However, if You fail to comply with 317 | this Public License, then Your rights under this Public License 318 | terminate automatically. 319 | 320 | b. Where Your right to use the Licensed Material has terminated under 321 | Section 6(a), it reinstates: 322 | 323 | 1. automatically as of the date the violation is cured, provided 324 | it is cured within 30 days of Your discovery of the 325 | violation; or 326 | 327 | 2. upon express reinstatement by the Licensor. 328 | 329 | For the avoidance of doubt, this Section 6(b) does not affect any 330 | right the Licensor may have to seek remedies for Your violations 331 | of this Public License. 332 | 333 | c. For the avoidance of doubt, the Licensor may also offer the 334 | Licensed Material under separate terms or conditions or stop 335 | distributing the Licensed Material at any time; however, doing so 336 | will not terminate this Public License. 337 | 338 | d. Sections 1, 5, 6, 7, and 8 survive termination of this Public 339 | License. 340 | 341 | 342 | Section 7 -- Other Terms and Conditions. 343 | 344 | a. The Licensor shall not be bound by any additional or different 345 | terms or conditions communicated by You unless expressly agreed. 346 | 347 | b. Any arrangements, understandings, or agreements regarding the 348 | Licensed Material not stated herein are separate from and 349 | independent of the terms and conditions of this Public License. 350 | 351 | 352 | Section 8 -- Interpretation. 353 | 354 | a. For the avoidance of doubt, this Public License does not, and 355 | shall not be interpreted to, reduce, limit, restrict, or impose 356 | conditions on any use of the Licensed Material that could lawfully 357 | be made without permission under this Public License. 358 | 359 | b. To the extent possible, if any provision of this Public License is 360 | deemed unenforceable, it shall be automatically reformed to the 361 | minimum extent necessary to make it enforceable. If the provision 362 | cannot be reformed, it shall be severed from this Public License 363 | without affecting the enforceability of the remaining terms and 364 | conditions. 365 | 366 | c. No term or condition of this Public License will be waived and no 367 | failure to comply consented to unless expressly agreed to by the 368 | Licensor. 369 | 370 | d. Nothing in this Public License constitutes or may be interpreted 371 | as a limitation upon, or waiver of, any privileges and immunities 372 | that apply to the Licensor or You, including from the legal 373 | processes of any jurisdiction or authority. 374 | 375 | 376 | ======================================================================= 377 | 378 | Creative Commons is not a party to its public 379 | licenses. Notwithstanding, Creative Commons may elect to apply one of 380 | its public licenses to material it publishes and in those instances 381 | will be considered the “Licensor.” The text of the Creative Commons 382 | public licenses is dedicated to the public domain under the CC0 Public 383 | Domain Dedication. Except for the limited purpose of indicating that 384 | material is shared under a Creative Commons public license or as 385 | otherwise permitted by the Creative Commons policies published at 386 | creativecommons.org/policies, Creative Commons does not authorize the 387 | use of the trademark "Creative Commons" or any other trademark or logo 388 | of Creative Commons without its prior written consent including, 389 | without limitation, in connection with any unauthorized modifications 390 | to any of its public licenses or any other arrangements, 391 | understandings, or agreements concerning use of licensed material. For 392 | the avoidance of doubt, this paragraph does not form part of the 393 | public licenses. 394 | 395 | Creative Commons may be contacted at creativecommons.org. 396 | --------------------------------------------------------------------------------