In the first set of reprojected images (figures 1, 2, 4, and 3), we show the spherical panorama acquired and several reprojections. In Earth-like coordinates, the data was acquired at equiangular positions from 60 degrees South, up across the North Pole and back down the other side to 60 degrees South. Equiangular longitudes were taken, creating a spherical image.
This is the author's office which has been the primary data collection site during development. The walls have several protrusions, there are several tables, bookshelves, file cabinets and computer monitors in the room, adding to the complexity of the environment. The data from two panoramic sweeps (one is shown in figure 1) is reprojected and viewed from 2 different points of view to show the range data acquired in figures 2, and 3. Figure 4 is from the same environment, but from an earlier dataset.