This is a dataset that provides the video and image sequences of five scenes containing textured primitives in the form of planes, spheres and cylinders. For each case, the dataset also has:
- Camera intrinsic parameters
- Camera distortion matrix
- Extrinsic matrix of each frame after initialization
- Point cloud generated on each keyframe
The results were obtained using STAM, a visual SLAM system developed at Kyushu University.
More details can be found at https://link.springer.com/article/10.1186/s41074-017-0018-3 or http://www.cin.ufpe.br/~rar3