Patchlet page


    patchlet closeup   


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.
  1. Images shown are jpegs but the images themselves are stored in .pgm format
  2. Jpeg disparity images have been histogram equalized for viewing
  3. Files available are:
    1. <image>-rect.pgm - the rectified image
    2. <image>-disp.pgm - the disparity image - note it is a 16 bit disparity image!
    3. <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.
  4. I can make the left/top rectified images in the future available if anyone wants to do their own stereo algorithms on the data


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