Patchlet homepage

Patchlet page

General

Don Murray - donm @ cs . ubc . ca

I (Don Murray) retain copyright on all the images and data presented here. I am very happy for anyone to use these images/data for academic purposes but please let me know if you do so. Giving feedback is a great way to motivate people to share data on the web!

Papers

Patchlets: representing stereo vision data with surface elements

by Don Murray and James J. Little presented at WACV 2005, Colorado

Segmenting correlation stereo range images using surface elements

by Don Murray and James J. Little presented at 3DPVT 2004, Thessaloniki, Greece

Environment modeling with stereo vision

by Don Murray and James J. Little presented at IROS 2004, Sendai, Japan

Patchlets: a method of interpreeting correlation stereo 3D data

Ph.D. thesis by Don Murray

Source code
OpenPatchlets.tgz

Data sets

The current data sets are just the appearance image, the disparity image and the XYZ data sets. These were requested for people to try point-based segmentation approaches on the same data.

Images shown are jpegs but the images themselves are stored in .pgm format
Jpeg disparity images have been histogram equalized for viewing
Files available are:

<image>-rect.pgm - the rectified image
<image>-disp.pgm - the disparity image - note it is a 16 bit disparity image!
<image>.xyz - the XYZ file. Its format is <npoints> \n <point 1 x> <y> <z> <row> <col> <rectified image greyscale value>... Note: not all pixels in the disparity image has a corresponding XYZ entry in the XYZ file due to some pixels having invalid stereo results. Also the 30-most right and bottom pixels have been trimmed as the Digiclops trinocular camera tends to get errors along this region due to lack of overlap between images.