The KTH-IDOL2 Database

نویسندگان

  • Jie Luo
  • Andrzej Pronobis
  • Barbara Caputo
  • Patric Jensfelt
چکیده

This report provides a detailed description of the KTH-IDOL2 database. The name IDOL is an acronym which stands for Image Datebase for rObot Localization. The database was created for the purpose of evaluating the robustness and adaptability of a vision-based place recognition algorithms to changes that occur in real-world dynamic environments. The database contains 24 image sequences accompanied by laser scans and odometry data acqired using two mobile robot platforms. The acquisition was performed within an indoor laboratory environment consisting of five rooms with different functionality (one-person office, two-persons office, corridor, kitchen, and printer area) under various illumination conditions (cloudy weather, sunny weather, and night) across a span of six months. As a result, the data capture natural variability that occur in real-world environments introduced by both illumination and human activity (people appear in the rooms, furniture and objects change location etc.). The KTH-IDOL2 database is an extension of the KTH-IDOL1 database and as such consists of the following parts:

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تاریخ انتشار 2006