home
***
CD-ROM
|
disk
|
FTP
|
other
***
search
/
vis-ftp.cs.umass.edu
/
vis-ftp.cs.umass.edu.tar
/
vis-ftp.cs.umass.edu
/
pub
/
CMU
/
cmu_files
/
desc
/
overall
< prev
Wrap
Text File
|
1990-12-11
|
1KB
|
25 lines
OVERALL DESCRIPTION
The tape contains data from two runs. The first is an outdoor sidewalk run of
the Terregator and consists of ERIM laser range data and monocular color camera
data. The calibration and image formats are described in file desc/desc.swalk.
The image files are in directory "ch" and use the following name conventions:
1. ch1.r, ch1.g ch1.b thru ch21.r, etc: camera images
2. ch1.e thru ch21.e: ERIM images
The second run was an indoor run with Hans Moravec's "Neptune" vehicle. This
run gathered stereo and sonar data. The data is described in desc/desc.stereo
and desc/desc.sonar. The image files are in the "may21" directory, the sonar
data in the "sonar" directory.
Both the color swalk images and the greyscale stereo images were calibrated
with an image warping algorithm developed by Hans Moravec. A brief description
of this and accompanying code is in directory "cal".
Good luck. If you have questions, send me mail or call 412-268-8812.
-- Larry Matthies