Table of Contents
J. Imaging, Volume 3, Issue 1 (March 2017)
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Cover Story (view full-size image) In this article, a Laserscanner Multi-Fisheye Camera Dataset (LaFiDa) for applying benchmarks is [...] Read more. In this article, a Laserscanner Multi-Fisheye Camera Dataset (LaFiDa) for applying benchmarks is presented. A head-mounted multi-fisheye camera system combined with a mobile laserscanner was utilized to capture the benchmark datasets. Besides this, accurate six degrees of freedom (6 DoF) ground truth poses were obtained from a motion capture system with a sampling rate of 360 Hz. Multiple sequences were recorded in an indoor and outdoor environment, comprising different motion characteristics, lighting conditions, and scene dynamics. The benchmark dataset is available online released under the Creative Commons Attributions Licence (CC-BY 4.0), and it contains raw sensor data and specifications like timestamps, calibration, and evaluation scripts. The provided dataset can be used for multi-fisheye camera and/or laserscanner simultaneous localization and mapping (SLAM). View this paper