HRBB2: Indoor Image Data for Visual Odometry/SLAM

Figure 1: Different scenarios in HRBB 2nd floor.
Introduction
This dataset is provided for testing visual odometry/SLAM systems in typical office corridor scenarios. The images are recorded using a Samsung Galaxy S3 i747M cell phone camera on the 2th floor of H.R. Bright Building, Texas A&M University. The ground truth of camera positions and intrinsic parameters are also provided.
 
Figure 2: Push cart with mounted cameras.
 
Figure 3: The marked landmarks from the video.

 Figure 4: The marked landmarks(blue) and camera position(red).

Figure 5: The blueprint and path in HRBB 2nd floor.
Download (zip)
The image sequence consists of 9,342 frames of 1920 x 1080 pixels. Ground truth of camera positions is also included.
Download as a zip (1GB) file.
Credits
Thomas Whitney, Thomas Lavastida, Alex Escamilla, Chieh(Jay) Chou and Dezhen Song
Links
Netbot Lab