  We introduce the Aria Digital Twin (ADT) - an egocentric dataset captured
using Aria glasses with extensive object, environment, and human level ground
truth. This ADT release contains 200 sequences of real-world activities
conducted by Aria wearers in two real indoor scenes with 398 object instances
(324 stationary and 74 dynamic). Each sequence consists of: a) raw data of two
monochrome camera streams, one RGB camera stream, two IMU streams; b) complete
sensor calibration; c) ground truth data including continuous
6-degree-of-freedom (6DoF) poses of the Aria devices, object 6DoF poses, 3D eye
gaze vectors, 3D human poses, 2D image segmentations, image depth maps; and d)
photo-realistic synthetic renderings. To the best of our knowledge, there is no
existing egocentric dataset with a level of accuracy, photo-realism and
comprehensiveness comparable to ADT. By contributing ADT to the research
community, our mission is to set a new standard for evaluation in the
egocentric machine perception domain, which includes very challenging research
problems such as 3D object detection and tracking, scene reconstruction and
understanding, sim-to-real learning, human pose prediction - while also
inspiring new machine perception tasks for augmented reality (AR) applications.
To kick start exploration of the ADT research use cases, we evaluated several
existing state-of-the-art methods for object detection, segmentation and image
translation tasks that demonstrate the usefulness of ADT as a benchmarking
dataset.
