LFMIS : Light-Field dataset of the MIS laboratory

The LFMIS dataset, created for the evaluation of planar object visual tracking, was generated with a static Lytro Photo camera pointed toward the end-effector of a Stäubli manipulator holding a planar target.

Target images showing the calibration rigs are provided to calibrate the light-field camera.

Two experimental setups with a textured planar object led to the following datasets:

  • Sequence 1: pure translation, rectangular shape (9 light-fields)
  • Sequence 2 : free combination of translation and rotation (9 light-fields)

For each sequence, the ground truth poses of the planar object measured by the Stäubli manipulator are provided.

For more details on the LFMIS dataset (e.g. acquisition setup or paths shape), see Section VI in the paper:

Nathan Crombez, Guillaume Caron, Takuya Funatomi, Yasuhiro Mukaigawa, Reliable planar object pose estimation in light-fields from best sub-aperture camera pairs, IEEE Robotics and Automation Letters, RA-L, vol. 3, no. 8, pp. 3561 – 3568, October 2018. PDF

The LFMIS dataset (2.24 GB) is available for download here: LFMIS_dataset.zip.