Spherical dataset

A spherical camera was used for generating this dataset (the Spherical Camera Dataset). A spherical camera is a camera that has its field of view enclosed in a sphere. The sphere is modelled as a surface, and the camera’s field of view can be defined as the region between the centre of the sphere and the surface.The spherical sensor includes six active vision sensors that investigate the six directions of space in the following order: front, top, back, bottom, left, and right. The resulting images provide an overview of the scene surrounding the robot. The robot can thus sense much more of the scene around it than when using a forward-facing camera.Our aim in this approach was to permit the robot to define the situation in an autonomous way without needing to concatenate images from other robots.We ran the simulator for five minutes to ensure the behaviour was stable before recording the sequences. A total of 2,519 sequences were generated as training data for the detection algorithm. Each video or image sequence had 75 frames at a resolution of 256 × 256.<br>