Omnidirectional images data set 2: Laboratory Trajectory
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