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.
Reference:
Reinhard Klette, Norbert Krüger, 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.
