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LaFiDa—A Laserscanner Multi-Fisheye Camera Dataset

Institute of Photogrammetry and Remote Sensing (IPF) Karlsruhe Institute of Technology (KIT), Englerstr. 7, 76131 Karlsruhe, Germany
Authors to whom correspondence should be addressed.
Academic Editors: Hassan Ugail, Lihua You and Gonzalo Pajares Martinsanz
J. Imaging 2017, 3(1), 5;
Received: 22 September 2016 / Revised: 14 December 2016 / Accepted: 4 January 2017 / Published: 17 January 2017
(This article belongs to the Special Issue 3D Imaging)
PDF [6145 KB, uploaded 17 January 2017]


In this article, the 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 provided sequences consist of images from three—by hardware trigger—fully synchronized fisheye cameras combined with a mobile laserscanner on the same platform. In total, six trajectories are provided. Each trajectory also comprises intrinsic and extrinsic calibration parameters and related measurements for all sensors. Furthermore, we generalize the most common toolbox for an extrinsic laserscanner to camera calibration to work with arbitrary central cameras, such as omnidirectional or fisheye projections. 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 Full-Text
Keywords: ground truth; fisheye; mobile laserscanner; reconstruction; tracking; optical metrology; multi-camera system; dataset; benchmark ground truth; fisheye; mobile laserscanner; reconstruction; tracking; optical metrology; multi-camera system; dataset; benchmark

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Urban, S.; Jutzi, B. LaFiDa—A Laserscanner Multi-Fisheye Camera Dataset. J. Imaging 2017, 3, 5.

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