The name IDOL is an acronym which stands for Image Database for rObot Localization. The database consists of 24 image sequences accompanied by laser scans and odometry data acquired using two mobile robot platforms. The acquisition was performed within an indoor laboratory environment consisting of five rooms of different functionality (one-person office, two-persons office, corridor, kitchen, and printer area) under various illumination conditions (in cloudy weather, in sunny weather, and at night) across a span of 6 months. As a result, the data capture natural variability that occur in real-world environments introduced by both illumination and human activity. The KTH-IDOL2 database is an extension of the KTH-IDOL1 database and as such consists of 12 sequences taken from the KTH-IDOL1 database and another 12 sequences acquired 6 months later.
For references and a detailed description of the database, please see the Documents section. The database can be obtained from the Download section.
If you have any questions or you experience technical problems, please contact Andrzej Pronobis and Jie Luo.
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The following technical report provides a detailed description of the IDOL and IDOL2 databases:
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J. Luo, A. Pronobis, B. Caputo, and P. Jensfelt.
The KTH-IDOL2 database.
Technical Report CVAP304, Kungliga Tekniska Hoegskolan, CVAP/CAS, October 2006.
Publications using the database:
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A. Pronobis, O. Martínez Mozos, and B. Caputo.
SVM-based discriminative accumulation scheme for place recognition.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA08),
Pasadena, CA, USA, May 2008.
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A. Pronobis and B. Caputo.
Confidence-based cue integration for visual place recognition.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots
and Systems (IROS07), San Diego, CA, USA, October 2007.
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J. Luo, A. Pronobis, B. Caputo, and P. Jensfelt.
Incremental learning for place recognition in dynamic environments.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS07), San Diego, CA, USA, October 2007.
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J. Luo, A. Pronobis, and B. Caputo.
Svm-based transfer of visual knowledge across robotic platforms.
In 5th International Conference on Computer Vision Systems
(ICVS07), Bielefeld, Germany, March 2007.
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A. Pronobis, B. Caputo, P. Jensfelt, and H. I. Christensen.
A discriminative approach to robust visual place recognition.
In Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS06), Beijing, China, October 2006.
If you use the IDOL or IDOL2 database in your scientific work, please cite as:
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for IDOL2:
J. Luo, A. Pronobis, B. Caputo, and P. Jensfelt.
Incremental learning for place recognition in dynamic environments.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS07), San Diego, CA, USA, October 2007.
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for IDOL:
A. Pronobis, B. Caputo, P. Jensfelt, and H. I. Christensen.
A discriminative approach to robust visual place recognition.
In Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS06), Beijing, China, October 2006.
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In order to facilitate downloading, each image sequence is available as a separate TAR archive. Windows users can use one of the available Windows TAR implementations such as BsdTar in order to decompress the archives. The images are stored in the PNG format. Movies created from each image sequence can be downloaded separately for preview.
| Robot Platform |
Illumination
conditions |
ID* |
Date of
Acquistion |
File |
Movie |
Dumbo |
Cloudy |
1 |
Feb 02,2006 |
tar (118 MB) |
mov (5.5 MB) |
| 2 |
Feb 02,2006 |
tar (120 MB) |
mov (5.5 MB) |
| 3 |
Jun 08,2006 |
tar (120 MB) |
mov (5.3 MB) |
| 4 |
Jul 24,2006 |
tar (128 MB) |
mov (5.9 MB) |
| Night |
1 |
Feb 02,2006 |
tar (127 MB) |
mov (5.8 MB) |
| 2 |
Feb 02,2006 |
tar (128 MB) |
mov (5.7 MB) |
| 3 |
Jun 10,2006 |
tar (138 MB) |
mov (6.0 MB) |
| 4 |
Jun 20,2006 |
tar (123 MB) |
mov (5.4 MB) |
| Sunny |
1 |
Feb 05,2006 |
tar (110 MB) |
mov (5.3 MB) |
| 2 |
Feb 05,2006 |
tar (115 MB) |
mov (5.4 MB) |
| 3 |
Jun 09,2006 |
tar (118 MB) |
mov (5.6 MB) |
| 4 |
Jun 11,2006 |
tar (122 MB) |
mov (5.8 MB) |
Minnie
|
Cloudy |
1 |
Jan 23,2006 |
tar (118 MB) |
mov (5.5 MB) |
| 2 |
Jan 23,2006 |
tar (125 MB) |
mov (5.8 MB) |
| 3 |
Jul 20,2006 |
tar (108 MB) |
mov (5.1 MB) |
| 4 |
Jul 20,2006 |
tar (118 MB) |
mov (5.6 MB) |
| Night |
1 |
Jan 19,2006 |
tar (134 MB) |
mov (6.2 MB) |
| 2 |
Jan 19,2006 |
tar (156 MB) |
mov (7.1 MB) |
| 3 |
Jun 10,2006 |
tar (119 MB) |
mov (5.3 MB) |
| 4 |
Jun 20,2006 |
tar (110 MB) |
mov (4.9 MB) |
| Sunny |
1 |
Feb 04,2006 |
tar (104 MB) |
mov (5.1 MB) |
| 2 |
Feb 04,2006 |
tar (104 MB) |
mov (5.1 MB) |
| 3 |
Jun 06,2006 |
tar (124 MB) |
mov (6.1 MB) |
| 4 |
Jun 11,2006 |
tar (108 MB) |
mov (5.1 MB) |
* The sequences with ID 1 and 2 were taken from the KTH-IDOL1 databaseNOTE
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