Calibrated, registered images of an extended urban area

摘要

We describe a dataset of several thousand calibrated, time-stamped, geo-referenced, high dynamic range color images, acquired under uncontrolled, variable illumination conditions in an outdoor region spanning several hundred meters. The image data is clustered into several groups which have little mutual inter-visibility. For each group, the calibration data is globally consistent on average to roughly five centimeters and 0.1., or about four pixels of epipolar registration. All image, feature and calibration data is available for interactive inspection and downloading at http:// city. lcs. mit. edu/ data. Calibrated imagery is of fundamental interest in a variety of applications. We have made this data available in the belief that researchers in computer graphics, computer vision, photogrammetry and digital cartography will find it of value as a test set for their own image registration algorithms, as a calibrated image set for applications such as image-based rendering, metric 3D reconstruction, and appearance recovery, and as input for existing GIS applications. [References: 27]