Data set for image processing and computer vision
The data set is available for download, but the size of the total data set is very large. If you have problems downloading the data, please contact us.
Using the robot data please cite the article:
Henrik Aanæs, Anders Lindbjerg Dahl, and Kim Steenstrup Pedersen (2011): Interesting Interest Points - A Comparative Study of Interest Point Performance on a Unique data set. International Journal of Computer Vision, June, 2011.
pdf
bibtex
Purpose of the data set
This page provide the robot data set and the associated documentation. The reason for providing the data
is to have a precise ground truth for benchmarking computer vision methods. The data set consists of 60 scenes acquired from 119
positions, and from each position the scene is illuminated by 19 white LED's. In total this is 135.660 color images of
a resolution of 1200 x 1600. We have mounted the camera on an industrial robot, which gives us very precise camera positioning.
The surface of the scene has been scanned using a structured light scanner, which gives us precise 3D surface information. The use of
19 point light sources gives us the possibility of artificially relighting the scene by a linear combination of these 19 images.
This data provides the possibility of very accurately investigating the performance of computer vision methods, for example regarding
invariance properties as a function of change in scale, light, or viewing position. The data has initially been used for performance
evaluation of a number of existing interest point detectors and descriptors, providing new and surprising insight, see
IJCV paper. Our hope is that this data can be an element in
developing future computer vision methods.
The 60 data sets provided here is the first comprehensive data set acquired with our unique robot acquisition devise. Our plan is to
develop this further, so we very much welcome input to improve the quality of the data and to give ideas for new data sets. The full
data set can be downloaded from the download page. The total amount of images is 730 Gb of data. There are
also reduced versions available.
IJCV paper |
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3DPVT paper |
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November 17, 2011
