RGB-D Dataset For Visual Odometry/SLAM Under Large Lighting Variations
Introduction
This page lists our RGB-D datasets collected for testing visual odometry/SLAM performance under lighting variations. The data have been recorded using a Microsoft Kinect (for Xbox 360). Its intrinsic K = [525 0 319.5 ; 0 525 239.5 ; 0 0 1.0]; distCoeffs = [0,0,0,0].
Image Pairs (zip file)
Pair 1 Pair 2
Pair 3 Pair 4 Pair 5
Pair 6 Pair 7 Pair 8
Pair 9 Pair 10 Pair 11
Pair 12 Pair 13 Pair 14
Pair 15 Pair 16 Pair 17
Sequences
Corridor-A [constant lighting] (1.5GB) Corridor-A [varying lighting] (1.8GB)
Corridor-B [constant lighting] (1.4GB) Corridor-B [varying lighting] (1.1GB)
Corridor-C [constant lighting] (1.7GB) Corridor-C [varying lighting] (1.8GB)
Staircase-A [constant lighting] (1.6GB) Staircase-A [varying lighting] (1.9GB)
Staircase-B [constant lighting] (1.5GB) Staircase-B [varying lighting] (1.7GB)
Staircase-C [constant lighting] (1.2GB) Staircase-C [varying lighting] (1.1GB)
Entry-Hall [constant lighting] (1.2GB) Entry-Hall [varying lighting] (1.1GB)
Auditorium [constant lighting] (1.4GB) Auditorium [varying lighting] (1.4GB)
Links
Netbot Lab