Toulouse Capitole Camera Tracking Dataset

This dataset collects 56 images taken in Place du Capitole in Toulouse (FRA) (https://goo.gl/maps/rWyj8yCGAMP2) and 3 related videos taken while moving around in the place. The aim of the dataset is to test and evaluate the camera tracking algorithms developed for the POPART project (http://www.popartproject.eu/), and help the reproducibility of the experiments. The camera tracking algorithms developed for the POPART project are based on model tracking of an existing 3D reconstruction of the scene. First a collection of still images are taken and a SfM pipeline is used to perform the 3D reconstruction of the scene. As result of this first step, a 3D point cloud is generated. The camera tracking algorithms are then based on camera localization techniques: each frame is individually localized w.r.t. the 3D point cloud using the photometric information (SIFT features) associated to each point. This allows to align the point cloud to the current frame and thus compute the camera pose. The dataset is maintained at https://gitlab.com/simogasp/trackingDataset_TLSCapitole本数据集收集了法国图卢兹市政厅广场（Place du Capitole，https://goo.gl/maps/rWyj8yCGAMP2）的56张图像，以及3段随该广场移动拍摄的相关视频。本数据集旨在测试与评估为POPART项目（POPART）开发的相机跟踪算法，并助力相关实验的可重复性。 为POPART项目（POPART）开发的相机跟踪算法基于场景现有三维重建的模型跟踪技术。首先采集一组静态图像，通过运动恢复结构（Structure from Motion，SfM）流程完成场景的三维重建，该步骤的输出为生成的三维点云。后续的相机跟踪算法基于相机定位技术：利用与每个点关联的光度信息（尺度不变特征变换，Scale-Invariant Feature Transform，SIFT特征），将每一帧单独相对于该三维点云进行定位。该过程可实现点云与当前帧的对齐，进而计算出相机位姿。 本数据集的托管地址为https://gitlab.com/simogasp/trackingDataset_TLSCapitole