Indoor dataset (32 images, 12896 points)
Please mouse over (but don't click!) the colored underlined link to blink between the images.
Reconstructions
Linear Estimate (Table 1, col e-3))
After Bundle Adjustment (Table 1, col e-4))
Top-view
Linear Estimate (Table 1, col e-3))
After Bundle Adjustment (Table 1, col e-4))