An outdoor ground truth evaluation dataset for sensor-aided visual handheld camera localization

We introduce the first publicly available test dataset for outdoor handheld camera localization comprising over 45,000 real camera images of an urban environment captured under natural camera motions and different illumination settings. For all these images the dataset not only contains readings of the sensors attached to the camera, but also ground truth information on the geometry and texture of the environment and the full 6DoF ground truth camera pose. This poster describes the extensive process of creating this comprehensive dataset that we have made available to the public. We hope this not only enables researchers to objectively evaluate their camera localization and tracking algorithms and frameworks on realistic data but also stimulates further research.