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Omnidirectional images data set 2: Laboratory Trajectory
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Trajectory_Lab is a set of omnidirectional
images captured in an indoors environment
(Quorum V building, ground
floor, ARVC Laboratory)
at Miguel Hernandez University,
Spain. This database is intended
to test visual mapping and localization
algoritmhs 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 20cm. The route covers a distance equal to 80m and the environment where the images were
captured is very prone to visual aliasing (the visual appearance of some images that have
been captured in different rooms may be similar). The next figure shows a bird eye’s view of the positions where the images were
captured and some sample omnidirectional images.
The whole
database is downloadable through the next link: Omnidirectional images Publications Visit also
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