
This is a 3D landmark-based pose estimation dataset from
Carnegie Mellon University.  The dataset contains measured
3D landmark points, and a set of pan-tilt observations of
these landmarks from 5 cameras mounted on campus.  This is 
enough information to compute the pose (location and orientation) 
of the cameras.  My code for doing the pose computation is
included.  It is described in Section 4 of the paper
  R.Collins and Y.Tsin, "Calibration of an Outdoor Active Camera 
  System," IEEE Computer Vision and Pattern Recognition (CVPR'99),
  Ft.Collins, CO, June 23-25, 1999.


The dataset is available from
  http://www.cs.cmu.edu/~rcollins/cmupose.html

Download and untar CMUpose.tar to get the following directories
CMUpose/data/
CMUpose/src/

In the data/ directory you will find
  landmarks.dat 
which is a file of GPS landmark data.  Read the header to decipher the 
format.  The position of the landmarks on campus is depicted in the
gif file campuspts.gif.  You will also find the following set of pan-tilt
measurement files for each of 5 cameras on campus (measured by sighting a
subset of the landmarks in the landmarks.dat file)
  porter_calib.dat
  prb_calib.dat
  roberts_calib.dat
  smith_calib.dat
  wean_calib.dat
Again read the header to understand the format.

In the src/ directory you will find my pose calibration code. It is
perhaps the best example of how to read and use the data in the above
files.  Go to the src/ directory and type "make".  I've compiled on
an SGI running IRIX and on a PC running RedHat Linux, with no problems.  
It will make an executable called posecalib.  Run "posecalib" with no
arguments to see what the input arguments should be.

To try a test run, type
  posecalib ../data/landmarks.dat ../data/prb_calib.dat 1
and compare the results with the file prbpose.out.  If the results
deviate significantly there is a problem.

You are the alpha test site!  Good luck.

  -Bob Collins 
   Robotics Institute
   Carnegie Mellon University
   5000 Forbes Ave
   Pittsburgh, PA 15213
   EMAIL: rcollins@cs.cmu.edu

