DSpace@MIT

These images were recorded at the Computing Science Centre of the University of Alberta. They comprise a loop around the third floor of the building. Images were captured with a Dragonfly IEEE1394 digital camera from Point Grey Research,from an iRobot Magellan Pro robot. An image was taken after an approximate 15 cm translation or 5 degree rotation, whichever came first. An upwards-pointing camera was used for observing the robot position by tracking a repeating pattern of ceiling tiles. As such, every image has an associated position and covariance matrix. Each of the 512 images has three associated files: imageNNNN.png - rectified image (radial distortion has been removed). imageNNNN.state - position image was taken from, along with covariance matrix. imageNNNN.sift - SIFT keys. More information can be found in the README file in the archive. For convenience, the SIFT keys are packaged in a separate file.