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Andrzej Pronobis

The KTH-IDOL2 Database

J. Luo, A. Pronobis, B. Caputo, P. Jensfelt

Technical report CVAP304, KTH Royal Institute of Technology, CVAP/CAS, 2006.


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.


  author =       {Luo, Jie and Pronobis, Andrzej and Caputo, Barbara and Jensfelt, Patric},
  title =        {The {KTH-IDOL2} {D}atabase},
  year =         2006,
  month =        oct,
  number =       {CVAP304},
  institution =  {KTH Royal Institute of Technology, CVAP/CAS},
  address =      {Stockholm, Sweden},
  url =          {}