vis-ftp.cs.umass.edu/vis-ftp.cs.umass.edu.tar/vis-ftp.cs.umass.edu/pub/Motion/motion_data/ground_truth/README

Text File | 1990-11-05 | 2KB | 30 lines

    This directory and its subdirectories contain ground truths for the
Umass data sequence taken with Martin Marietta's Autonomous Land Vehicle.
The ground truth includes the depths of scene points obtained using
theodolites as well as data on the motion of the vehicle and appropriate
coordinate transformations. Some of these parameters are obtained directly
through measurements while others are derived. At some future date, the
documentation will contain details of how this was done. At present we
cannot specify the accuracy of the data - except to say that we believe
its probably the most accurate available that we know of.
    At the top-level there are latex files (.tex) and postscript files
(.ps) which contain information on the different coordinate systems, how
they are specified and the conversions between them. These should be read
first. (Note that this is a draft version).
    All data files have a (.dat) extension. All coordinate conversions are
specified as homogeneous matrices and the files containing them have the
string (_homo) in the filename.
    The camera to vehicle transformation is available at the top level
since this did not vary with the sequence. Also available at the top level
is information on camera/digitizer specifications that was provided to us.
The other coordinate transformations are provided in the sub-directories
specific to each sequence. Scene depths are also available in the
appropriate subdirectories.
    (NOTE: At present only the rocket sequence is complete).
    Please let us know if you have any problems with the data or if
there are any errors.
    You may contact either
    [e-mail]
    or
    [e-mail]