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README
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1994-08-03
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The UMass Stereo-Motion Data-Set
---------------------------------
This sequence was take on April 27, 1990.
The grey-scale stereo images are part of a data set from an indoor run
with the ``Harvey'' robot vehicle at UMass. The motion of the
camera was toward the corner of the two walls shown in the intensity
images in Figure~\ref{ts12}. The distance from the vehicle center to the
corner was approximately 18 feet. Absolute ground truth for the camera
motion is not known. The motion is a largely translational motion of
approximately 1.9 feet at each step directed along the $Z$ axis of
the camera pair. The binocular parallel-axes set-up of the
camera pair has a baseline of 20 inches.
Images were acquired with a SONY B/W model AVC-D1 camera mounted on
a Denning robot vehicle. Linked to a Gould frame grabber, 512X512 pixel
images were acquired with a field of view of 24 degrees by 23 degrees.
Calibration was not done for the image center which was assumed tpo be at
the frame center. We used the camera to first acquire the left image, and
then moved the camera on the calibrated baseline by 20 inches to acquire the
right image. The vehicle was then moved forward, and the process was
repeated at the new step.
L and R in the file nomenclature refer to images captured from
the Left and Right of the camera baseline center, respectively.
Numbers 1-5 indicate the steps taken in between each frome pair.
Therefore, L5 refers to the left image at the 5th step.