DTU Robot data
The data set consists of 60 scenes acquired from 119 positions, and from each position the scene is illuminated by 19 white LED's. In total this is 135.660 color images of a resolution of 1200 x 1600. The camera has been mounted on an industrial robot, which gives us very precise camera positioning. The surface of the scene has been scanned using a structured light scanner, which gives us precise 3D surface information. The use of 19 point light sources gives us the possibility of artificially relighting the scene by a linear combination of these 19 images.
This data provides the possibility of very accurately investigating the performance of computer vision methods, for example regarding invariance properties as a function of change in scale, light, or viewing position. The data has initially been used for performance evaluation of a number of existing interest point detectors and descriptors, providing new and surprising insight.
Henrik Aanæs, Anders Lindbjerg Dahl, and Kim Steenstrup Pedersen (2011): Interesting Interest Points - A Comparative Study of Interest Point Performance on a Unique data set. International Journal of Computer Vision, June, 2011.