Data set from:

Improved 3D Sparse Maps for High-performance Structure from Motion with Low-cost Omnidirectional 
Robots (P. Cavestany, A.L. Rodriguez, H. Martinez-Barbera, T.P. Breckon), 
In Proc. International Conference on Image Processing, IEEE, 2015. 

@InProceedings{cavestany15robot,
  author = 	 {Cavestany, P. and Rodriguez, A.L. and Martinez-Barbera, H. and Breckon, T.P.},
  title = 	 {Improved 3D Sparse Maps for High-performance Structure from Motion with Low-cost Omnidirectional 
Robots},
  booktitle = 	 {Proc. International Conference on Image Processing},
  year = 	 {2015},
  month = 	 {September},
  publisher =    {IEEE}, 
  keywords =     {structure from motion, ill-conditioned baseline configurations, omnidirectional 3D, robot 
sensing, robot vision, 3D visual sensing, point clouds, robot scene mapping},
  url = 	 {http://community.dur.ac.uk/toby.breckon/publications/papers/cavestany15robot.pdf},
}

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This dataset conists of two sequences of images taken by the WowWee Rovio mobile 
robot in a display room at Cranfield University (UK). In each session the itinerary
of the robot performs an "S" shape path, and they only overlap in the last few images of
the first session and the first images of the second session. 

This dataset sets out two challenges: 

1. The 3D reconstruction and camera pose retrieving of the scene transitted by
the Rovio in each session. The difficulty comes from the low quality and poor
resolution of the images streamed by the Rovio, combined with the small
baselines and rotation between consecutive frames, which produce unstable
epipolar configurations.

2. The effective merging of both 3D reconstructions into one global, unitary 3D
mapping of the whole scene, based on the minimal overlap between the two
sequences.

Folders session_0 and session_1 include the images for each session. In folder
groundTruth the measured positions are available for validation purposes. File
intrinsic_matrix.xml stores the intrinsic parametres of the camera of the
Rovio robot, in a openCV-readable format.

The specification camera is a: OV7670 CMOS

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