Dataset Open Access

Toulouse Capitole camera tracking dataset

Gasparini, Simone

This dataset collects 56 images taken in Place du Capitole in Toulouse (FRA) ( and 3 related videos taken while moving around in the place. The aim of the dataset is to test and evaluate the camera tracking algorithms developed for the POPART project (, and help the reproducibility of the experiments.

The camera tracking algorithms developed for the POPART project are based on model tracking of an existing 3D reconstruction of the scene. First a collection of still images are taken and a SfM pipeline is used to perform the 3D reconstruction of the scene. As result of this first step, a 3D point cloud is generated. The camera tracking algorithms are then based on camera localization techniques: each frame is individually localized w.r.t. the 3D point cloud using the photometric information (SIFT features) associated to each point. This allows to align the point cloud to the current frame and thus compute the camera pose.

The dataset is maintained at 

This dataset has been developed during the [POPART]( project funded by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 644874. The dataset is maintained at
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