  In this work, we present a novel dataset for assessing the accuracy of stereo
visual odometry. The dataset has been acquired by a small-baseline stereo rig
mounted on the top of a moving car. The groundtruth is supplied by a consumer
grade GPS device without IMU. Synchronization and alignment between GPS
readings and stereo frames are recovered after the acquisition. We show that
the attained groundtruth accuracy allows to draw useful conclusions in
practice. The presented experiments address influence of camera calibration,
baseline distance and zero-disparity features to the achieved reconstruction
performance.
