Title : COLD : The CoSy Localization Database
Author : A. Pronobis, B. Caputo
Abstract : Two key competencies for mobile robotic systems are localizationand semantic context interpretation. Recently, vision has become themodality of choice for these problems as it provides richer and moredescriptive sensory input. At the same time, designing and testingvision-based algorithms still remains a challenge, as large amounts ofcarefully selected data are required to address the high variability ofvisual information. In this paper we present a freely available databasewhich provides a large-scale, flexible testing environment forvision-based topological localization and semantic knowledge extractionin robotic systems. The database contains 76 image sequencesacquired in three different indoor environments across Europe. Acquisitionwas performed with the same perspective and omnidirectionalcamera setup, in rooms of different functionality and under variousconditions. The database is an ideal testbed for evaluating algorithmsin real-world scenarios with respect to both dynamic and categoricalvariations.
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