Trinocular stereo sequences recored with HAKA1, the research vehicle of the .enpeda.. group.

Sequence Length (Frames)	150
Colour / Grey	Grey
Colour Depth	8-bit
Resolution (pixels)	640 x 480
Stereo Rectified	Yes
Ego-motion info	Yes

• Set of 5 sequences recorded with three cameras (left, center and right). They are available for download as rectified pairs: left-center and center-right.
• The sequence ‘Close objects’ is of 79 frames.
• There is no ego-motion data available for the ‘Ordinary conditions’ sequence.

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Sample Images & Downloads

• Videos of each sequence (at increased speed) can be seen by clicking on the images below.
• Each sequence is around 40MB (150 Frames).

Sequence Name		Total frames
Brightness differences		150
Left-Center	Center-Right	Ego-motion data
left_center.7z	center_right.7z	egoMotion.7z

Sequence Name		Total frames
Close objects		79
Left-Center	Center-Right	Ego-motion data
left_center.7z	center_right.7z	egoMotion.7z

Sequence Name		Total frames
Illumination artifacts		150
Left-Center	Center-Right	Ego-motion data
left_center.7z	center_right.7z	egoMotion.7z

Sequence Name		Total frames
Night
Left-Center	Center-Right	Ego-motion data
left_center.7z	center_right.7z	egoMotion.7z

Sequence Name		Total frames
Ordinary conditions
Left-Center	Center-Right	Ego-motion data
left_center.7z	center_right.7z	NA

The calibration files assume a right-hand coordinate system.

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Reference:

Sandino Morales and Reinhard Klette, “A third eye for performance evaluation in stereo sequence analysis“, in Proc. 13th International Conference on Computer Analysis of Images and Patterns (CAIP ’09), 1078-1086, 2009. (Click here to download this as a bib file).