A Synchronized Stereo and Plenoptic Visual Odometry Dataset

本数据集名为‘A Synchronized Stereo and Plenoptic Visual Odometry Dataset’，由慕尼黑工业大学和卡尔斯鲁厄应用科技大学合作创建。数据集包含11个同步图像序列，记录了基于微透镜阵列（MLA）的全面相机和立体相机系统的视觉测程算法。这些序列在室内外具有挑战性的环境中记录，旨在评估单目、立体和全面相机视觉测程算法的性能。数据集提供了完整的相机内部模型和渐晕数据，以及用于校准的图像和标记位置。该数据集的应用领域包括视觉测程算法的评估和比较，特别是在解决长距离和大尺度轨迹的定位精度问题。

This dataset is titled *A Synchronized Stereo and Plenoptic Visual Odometry Dataset*, and was co-created by the Technical University of Munich and Karlsruhe University of Applied Sciences. It comprises 11 synchronized image sequences captured using both microlens array (MLA)-based plenoptic cameras and stereo camera systems for visual odometry algorithm evaluation. These sequences were recorded in challenging indoor and outdoor environments, with the objective of assessing the performance of monocular, stereo, and plenoptic camera-based visual odometry algorithms. The dataset provides complete camera intrinsic calibration models and vignetting data, alongside calibration images and marker positions. Its applicable scenarios include the evaluation and comparative analysis of visual odometry algorithms, particularly for resolving positioning accuracy challenges in long-distance and large-scale trajectories.