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people:gossow:rgbd [2012/07/04 16:23]
gossow
people:gossow:rgbd [2012/11/09 04:45] (current)
gossow
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 ====== RGBD Datasets ====== ====== RGBD Datasets ======
  
-These data sets resemble the structure ​of the [[http://​www.robots.ox.ac.uk/​~vgg/​research/​affine/​|datasets]] created by Mikolajczyk et. al., however they contain additional depth maps and information about the 3D camera movement.+Each of the following ​datasets ​contain a series of RGB and depth images of a planar sceneIn each dataset, the camera ​performs a distinct ​movement.
  
-All datasets ​were captured using a Kinect camera. Each contains ​series ​of RGB and depth images ​with a transformation of increasing strength.+The images ​were captured using a Kinect camera ​and have resolution ​of 1280x960 (the depth images ​are upscaled). They were generated using the [[http://​www.ros.org/​|ROS]]-based [[https://​github.com/​dgossow/​rgbd_evaluation|rgbd_dataset_gen]] toolkit.
  
-===== Data Sets =====+The data sets are '​downwards compatible'​ to the [[http://​www.robots.ox.ac.uk/​~vgg/​research/​affine/​|image datasets]] created by Mikolajczyk et. al.
  
-==== Poster ​====+===== Related Publications =====
  
-This scene shows several posters fixed to the ground or wall. It contains the following datasets:+David Gossow, David Weikersdorfer,​ Michael Beetz{{:​people:​gossow:​icpr12-daft.pdf|Distinctive Texture Features from Perspective-Invariant Keypoints}},​ International Conference on Pattern Recognition (ICPR), 2012
  
-  * **camrotate,​camrotate45,​camrotate60**:​ The camera rotates up to 90° around its view axis, while looking at the posters ​in a fronto-parallel view or 45°/60° tilted to the side. +You can download datasets referenced in the publication ​in one single file: [[http://ias.in.tum.de/~gossow/rgbd/​daft_datasets.tar.gz|daft_datasets.tar.gz]] (207 MB) 
-  * **scale**: The camera moves away from the scene, resulting ​in a scaling effect down to 24%. + 
-  * **vpangle, vpangle22, vpangle45**:​ The camera starts at a fronto-parallel view, tilting to the side relative to the plane normalThe optical tilt axis is at 0, 22 and 45 degrees. {{:people:gossow:rgbd:​poster_vpangle.jpg?​nolink&​400|}} +You can get the source code of DAFT on github: [[https://github.com/dgossow/​daft]]. 
-  * **vprotate35,​vprotate40,​vprotate45,​vprotate55**The camera is at 35°/40°/45°/55° relative to the plane normal and rotates around that normal{{:people:gossow:​rgbd:​poster_vprotate.jpg?​nolink&​400|}}+ 
 +You can find a further list of related publications on the site of the original evaluation framework[[http://​www.robots.ox.ac.uk/​~vgg/​research/​affine/​]].
  
 ===== Data description ===== ===== Data description =====
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   * **H1to*p**: 3x3 Homography from image 1 to n   * **H1to*p**: 3x3 Homography from image 1 to n
   * **K**: 3x3 intrinsic camera matrix   * **K**: 3x3 intrinsic camera matrix
-  ​* **cam_rotation**:​ rotation around camera axis for all images ​(except first+ 
-  * **vp_rotation**:​ rotation around plane normal +In addition, it contains one of the following parameter files: 
-  * **vp_angle**:​ angle between camera axis and plane normal ​(relative to img1) + 
-  * **scaling**:​ 2d image scaling relative to first image+  ​* **cam_rotation**:​ rotation around camera axis (degrees
 +  * **vp_rotation**:​ rotation around plane normal ​(degrees) 
 +  * **vp_angle**:​ angle between camera axis and plane normalrelative to img1 (degrees
 +  * **scaling**:​ 2d image scaling relative to first image (0..1) 
 + 
 +The parameter files contain the numerical values for all images except the first. 
 + 
 +===== The '​Poster'​ Data Set ===== 
 + 
 +Download the full dataset: [[http://​ias.in.tum.de/​~gossow/​rgbd/​poster.tar.gz|poster.tar.gz]] (623 MB) 
 + 
 +This scene shows several posters fixed to the ground or wall. 
 + 
 +It contains the following transformations:​ 
 + 
 +  * **camrotate0,​camrotate45,​camrotate60**:​ The camera rotates up to 90° around its view axis, while looking at the posters in a fronto-parallel view or 45°/60° tilted to the side. 
 +{{:​people:​gossow:​rgbd:​poster_camrotate.jpg?​nolink&​|}} 
 + 
 +  * **scale**: The camera moves away from the scene, resulting in a scaling effect down to 24%.  
 +{{:​people:​gossow:​rgbd:​poster_scale.jpg?​nolink&​|}} 
 + 
 +  * **vpangle0, vpangle22, vpangle45**:​ The camera starts at a fronto-parallel view, tilting to the side relative to the plane. The optical tilt axis is at 0, 22 and 45 degrees.  
 +{{:​people:​gossow:​rgbd:​poster_vpangle.jpg?​nolink&​|}} 
 + 
 +  * **vprotate35,​vprotate40,​vprotate45,​vprotate55**:​ The camera is tilted 35°/​40°/​45°/​55° relative to the plane and rotates around its normal. 
 +{{:​people:​gossow:​rgbd:​poster_vprotate.jpg?​nolink&​|}} 
 + 
 + 
 + 
 +===== The 'World Map' Data Set ===== 
 + 
 +Download the full dataset: [[http://​ias.in.tum.de/​~gossow/​rgbd/​world_map.tar.gz|world_map.tar.gz]] (623 MB) 
 + 
 +This scene shows a world map fixed to a wall.  
 + 
 +It contains the following transformations:​ 
 + 
 +  * **camrotate0,​camrotate22,​camrotate45**:​ The camera rotates up to 90° around its view axis, while looking at the posters in a fronto-parallel view or 22°/45° tilted to the side. 
 +{{:​people:​gossow:​rgbd:​world_map_camrotate.jpg?​nolink&​|}} 
 + 
 +  * **scale**: The camera moves away from the scene, resulting in a scaling effect down to 27%.  
 +{{:​people:​gossow:​rgbd:​world_map_scale.jpg?​nolink&​|}} 
 + 
 +  * **vpangle0, vpangle22, vpangle45**:​ The camera starts at a fronto-parallel view, tilting to the side relative to the plane. The optical tilt axis is at 0, 22 and 45 degrees.  
 +{{:​people:​gossow:​rgbd:​world_map_vpangle.jpg?​nolink&​|}}
people/gossow/rgbd.1341411811.txt.gz · Last modified: 2012/07/04 16:23 by gossow