3D dataset for testing SFM algorithms

This synthetic dataset consists of 32 image sets in total. D1~D19 consists of 100 images with a circular track. D20~D32 consists of 200 images with a circular track plus up and down motions of a camera. The camera captures two different kinds of background spaces, where target objects are positioned in the middle of the space. This dataset has been created with Blender software.

Each set has the corresponding ground truth camera pose file and the camera intrinsic parameter. The ground truth camera pose obeys Open GL convention. The camera intrisic file is a 3x3 matrix which has the format below: $$ \begin{bmatrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \\ \end{bmatrix} $$

where $f_x$, $f_y$, ($c_x$, $c_y$) refer to the camera x focal length, y focal length, and the camera principal point, respectively.

The models used in this dataset have been downloaded from Blend Swap under the licenses CC Zero and CC-BY. We want to thank the artists dana (Headmaster's office), matpompili (Laptop model), KirkJames (Vickers-Armstrong Spitfire), Jay-Artist (Kitchen), DennisH2010 (Clock), eastwind (Door) and b2przemo (Kitchen herbs) for their work.

If you have any question of using this dataset, please contact Antonio J. Rueda () or Kyungmin Han ().


D1

D2

D3

D4

D5

D6

D7

D8

D9

D10

D11

D12

D13

D14

D15

D16

D17

D18

D19

D20

D21

D22

D23

D24

D25

D26

D27

D28

D29

D30

D31

D32