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Sets of omnidirectional images

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posted on 2017-04-08, 10:16 authored by Luis PayaLuis Paya
SET 1:

The dataset is composed of a set of omnidirectional images captured in an indoor environment (Quorum V building, ground floor, ARVC Laboratory) at Miguel Hernández University, Spain. This database is intended to test visual mapping and localization algorithms for mobile robots.

The images have been captured using an Imaging Source DFK 21BF04 camera, which takes pictures of a hyperbolic mirror (Eizoh Wide 70). The mirror is mounted over the camera, with its axis aligned with the camera optic axis. The whole database contains 400 images that were captured while the robot went through a previously defined trajectory in a laboratory area. The distance between each pair of consecutive images is equal to 20 cm and the environment where the images were captured is very prone to visual aliasing (the visual appearance of some images captured in different rooms may be very similar.


SET 2: 

Set of omnidirectional images captured in an indoors environment (Quorum V building, 2nd floor) at Miguel Hernandez University.

The database includes a corridor, three offices, a library and an events room. It is composed of 872 omnidirectional colour images which have been captured on a dense regular 40x40 cm. grid of points. A bird eye's view of the grid points is included.

The database was captured with an Imaging Source DFK 21BF04 camera, which takes pictures of a hyperbolic mirror (Eizoh Wide 70). The mirror is mounted over the camera, with its axis aligned with the camera optic axis.

Funding

This work has been supported by the Spanish Government through the project DPI 2016-78361-R (AEI/FEDER, UE),  Creación de mapas mediante métodos de apariencia visual para la navegación de robots

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