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Robert:
The "swalk" data is from an outdoor Terregator run that gathered
both ERIM range data and color monocular images. The vehicle drove down
a sidewalk toward a set of stairs; a figure is included showing the layout
of the scene. This data was gathered by someone else, so if you have
questions direct them to Chuck Thorpe (cet@ius1.cmu.edu.arpa, 412-268-3612).
The following is the description of the data sent to me by people
working on it. The ERIM data consists of 64 rows by 256 columns of eight
bit pixels, the image data of 480x512 color images with eight bits per color.
Files ch0.e to ch21.e contain the ERIM data in row-by-row format; ch1.r,
ch1.g, ch1.b, etc. contain the camera data.
-- Larry
---------------------------------------------------------------------
Received: from ROVER.RI.CMU.EDU by IUS1.CS.CMU.EDU; 16 Jun 86 14:48:41 EDT
Received: from IUS2.CS.CMU.EDU by ROVER.RI.CMU.EDU; 16 Jun 86 14:48:07 EDT
Date: 16 Jun 1986 14:40-EDT
From: In.So.Kweon@ius2.cs.cmu.edu
To: lhm@rv
Subject: Images for U.Mass
Message-Id: <519331200/kweon@ius2.cs.cmu.edu>
The descriptions of images for U.M are as follows.
Starting position is 13.55 meters from stair.
Distance between two images is 0.1 meter for the first 11 images.
Distance between two images is 0.5 meter for other images.
Geometrical information for stair
Height = 0.7 m
Width = 1.88 m
Depth = 1.85 m
stepHeight = 0.14
stepDepth = 0.37
no. of steps = 5
Camera parameters
Lens : Wide angle lens
Tilt angle : -20.0 degree with respect to horizon
-17.0 degree with respect to vehicle
(i.e Vehicle has 3 deg. tilt angle)
Pan, Rot angle : 0 degree
Height = 2.00 meter from ground
(These are measured values.)
Unfortunately, we did not measure the location of camera on the
vehicle. But we have a program which calibrates the position of
camera with respect to ERIM scanner. If you need it , you can
send the source code to U.Mass.
ERIM
Tilt angle = 12.0 deg w.r.t vehicle
Height = 1.12 meter from ground
In So
***********************************************************************
Good luck!
In So