This article presents a new dataset of ultra-wide field of view images with accurate ground truth, called PanoraMIS. The dataset covers a large spectrum of panoramic cameras (catadioptric, twin-fisheye), robotic platforms (wheeled, aerial, and industrial robots), and testing environments (indoors and outdoors), and it is well suited to rigorously validate novel image-based robot-motion estimation algorithms, including visual odometry, visual SLAM, and deep learning-based methods. PanoraMIS and the accompanying documentation is publicly available on the Internet for the entire research community.

中文翻译：

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PanoraMIS：用于基于视觉的机器人运动估计的超宽视野图像数据集

本文介绍了一个具有准确地面实况的超宽视野图像的新数据集，称为 PanoraMIS。该数据集涵盖了广泛的全景相机（折反射、双鱼眼）、机器人平台（轮式、空中和工业机器人）和测试环境（室内和室外），非常适合严格验证基于图像的新颖机器人运动估计算法，包括视觉里程计、视觉 SLAM 和基于深度学习的方法。PanoraMIS 和随附的文档在 Internet 上为整个研究社区公开提供。