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Omnidirectional images data set 3: Altitude estimation
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Introduction Altitude_estimation is a set of omnidirectional
images captured both in an indoors
and an outdoors environments (inside and around the Quorum V building) at Miguel Hernandez University, Spain. This database is intended to test visual mapping and localization algoritmhs for mobile robots, when the movement of the robot is purely vertical. 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. To capture the sets of images, 21 positions have been defined on the ground
plane indoors and outdoors. On each position a line parallel
to the z-axis of the WRS
has been considered and a
set of images has been captured along each vertical line. Outdoors,
10 positions have been defined and 12 omnidirectional images per position have been captured, changing only the coordinate along the z-axis. This coordinate takes values between 125 cm and
290 cm with a gap of 15 cm between
consecutive capture points.
Indoors, 11 positions have
been defined. The ceiling has limited the number
of images captured from some positions. The next
figure shows a bird eye’s
view of the positions where the images
were captured and some sample omnidirectional
images. On the left, the
outdoor positions are shown,
and the indoor positions
are presented on the right.
The whole
database is downloadable through the next links: Indoor images Outdoor images Publications Visit also
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