Set 4

Binocular gray-level stereo sequences provided by Hella Aglaia Mobile Vision GmbH (2009) and .enpeda.. (2010).


Hella Aglaia Mobile Vision Sequences
(Bridge, City and Overheadwires)

Sequence Length (Frames) 251 / 301
Colour / Grey Grey
Colour Depth 12-bit
Resolution (pixels) 768 x 488
Stereo Rectified Yes
Ego-motion info Yes (in header)
  • Ego-motion info is found in the PGM header: Yaw rate and speed for the ego-vehicle. It also contains the cycle time between successive frames.
  • The stereo camera parameters can be downloaded here: camera.dat They are according to the coordinate system in this image.

.enpeda.. Group Sequences
(Cyclist, Roundabout and Motorway)

Sequence Length (Frames) 400 / 275
Colour / Grey Grey
Colour Depth 10-bit
Resolution (pixels) 640 x 480
Stereo Rectified Yes
Ego-motion info No
  • The stereo camera parameters are available for download here: camera.dat

Sample Images & Downloads

  • Videos of the sequence (at double speed) can be seen by clicking on the respective image.
  • The size of the sequences is around 70MB (250 Frames), 80MB (300 frames) or 200MB (400 frames) for each camera sequence.
Sequence Name Total frames
Bridge 251
Left Camera Right Camera
Bridge-Left.7z Bridge-Right.7z
Sequence Name Total frames
City 301
Left Camera Right Camera
City-Left.7z City-Right.7z
Sequence Name Total frames
Overheadwires 301
Left Camera Right Camera
Overheadwires-Left.7z Overheadwires-Right.7z
Sequence Name Total frames
Cyclist 400
Left Camera Right Camera
cyclist-left.7z cyclist-right.7z
Sequence Name Total frames
Motorway 400
Left Camera Right Camera
motorway-left.7z motorway-right.7z
Sequence Name Total frames
Roundabout 275
Left Camera Right Camera
roundabout-left.7z roundabout-right.7z

Reference:

Reinhard Klette, Norbert Kr├╝ger, Tobi Vaudrey, Karl Pauwels, Marc van Hulle, Sandino Morales, Farid Kandil, Ralf Haeusler, Nicolas Pugeault, Clemens Rabe, and Markus Lappe, “Performance of Correspondence Algorithms in Vision-Based Driver Assistance using an Online Image Sequence Database“. IEEE Trans.Vehicular Technonlogy, to appear, 2011.

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