Grey-level stereo sequences with range scans provided by HU Berlin (2009) and .enpeda.. / Daimler A.G. (2010)
HU Berlin Sequences (Parking Lot 1, 2 and 3)
| Sequence Length (Frames) | 117 / 180 / 117 |
|---|---|
| Colour / Grey | Grey |
| Colour Depth | 8-bit |
| Resolution (pixels) | 1024 x 1024 |
| Stereo Rectified | Yes |
| Ego-motion info | No |
- Sequences provided by Reulke, Ralf und Luber, Andreas und Haberjahn, Mathias und Piltz, Björn (2009).
- Sequences 2 and 3 come with data registration issues (between camera data and laser scans); Sequence 1 is correctly registered, as reported in the referenced publication.
- Relative and absolute (lab determined) as well as exterior orientation (pass points) included.
- Camera parameters + Image correction model available here: camera.dat
- Sequence file structure detailed here: readme.txt
.enpeda.. Group / Daimler A.G. Sequences (Containers, Trailer and Wall)
| Sequence Length (Frames) | 11 / 14 / 25 |
|---|---|
| Colour / Grey | Grey |
| Colour Depth | 12-bit |
| Resolution (pixels) | 1024 x 334 |
| Stereo Rectified | Yes |
| Ego-motion info | No |
- Sequences provided by .enpeda.. Group and Daimler A.G. (2010).
- Each range data frame is a full rotation (360 degrees) of the sensor.
- Stereo camera parameters can be downloaded here: camera.dat
- Calibration parameters between the stereo camera and the range finder can be downloaded from here: camera_laser.dat
- Read this for a short description of the range data files: readme.txt
- A sample C++ code (Visual Studio ’08 project) for reading the range data files can be download here: readBlobFiles.z7
Sample Images & Downloads
- Videos of Parking Lot 1, 2 and 3 can be seen by clicking on the respective image.
- For Containers, Trailer and Wall, click to enlarge the respective image.
| Sequence Name | Total frames |
|---|---|
| Parking Lot 1 | 177 |
| Absolute orientation | Absolute orientation.rar |
 |
|
| Left Camera | Right Camera |
| camera_left.rar (45 MB) | camera_right.rar (54 MB) |
| Left Camera Rectified | Right Camera Rectified |
| camera_left_rect.rar (43 MB) | camera_right_rect.rar (50 MB) |
| Sequence Name | Total frames |
|---|---|
| Parking Lot 2 | 180 |
| Absolute orientation | Absolute orientation.rar |
 |
|
| Left Camera | Right Camera |
| camera_left.rar (71 MB) | camera_right.rar (85 MB) |
| Left Camera Rectified | Right Camera Rectified |
| camera_left_rect.rar (68 MB) | camera_right_rect.rar (79 MB) |
| Sequence Name | Total frames |
|---|---|
| Parking Lot 3 | 117 |
| Absolute orientation | Absolute orientation.rar |
 |
|
| Left Camera | Right Camera |
| camera_left.rar (52 MB) | camera_right.rar (55 MB) |
| Left Camera Rectified | Right Camera Rectified |
| camera_left_rect.rar (49 MB) | camera_right_rect.rar (52 MB) |
| Sequence Name | Total frames |
|---|---|
| Containers | 11 |
| Range Data | containers_range_data.7z (22 MB) |
 |
|
| Stereo Images Left | Stereo Images Right |
| containers_left.7z (4 MB) | containers_right.7z (4 MB) |
| Sequence Name | Total frames |
|---|---|
| Trailer | 14 |
| Range Data | trailer_range_data.7z (27 MB) |
 |
|
| Stereo Images Left | Stereo Images Right |
| trailer_left.7z (5 MB) | trailer_right.7z (5 MB) |
| Sequence Name | Total frames |
|---|---|
| Wall | 25 |
| Range Data | wall_range_data.7z (50 MB) |
 |
|
| Stereo Images Left | Stereo Images Right |
| wall_left.7z (9 MB) | wall_right.7z (9 MB) |
Ground truth disparity map created from back projected laser scanner points for Parking Lot 1, 2 and 3
- Videos of the disparity map sequences can be seen by clicking in the respective image.
- Disparity maps available:
- Block matcher.
- Correlation matcher.
- SGM approach.
- Ground Truth from back projected laser scanner points.
| Sequence 1 | Sequence 2 | Sequence 3 |
|---|---|---|
 |
 |
 |
| seq1-block match.rar (16 MB) | seq2-block match.rar (25 MB) | seq3-block match.rar (19 MB) |
|
|
|
| seq1-cross correlation (10 MB) | seq2-cross correlation (14 MB) | seq3-cross correlation (15 MB) |
 |
 |
 |
| seq1-SGM.rar (22 MB) | seq2-SGM.rar (33 MB) | seq3-SGM.rar (25 MB) |
 |
 |
 |
| seq1-bp laserscanner.rar (10 MB) | seq2-bp laserscanner.rar (15 MB) | seq3-bp laserscanner.rar (14 MB) |
Reference:
For Parking lot 1, 2 and 3:
Reulke, Ralf und Luber, Andreas und Haberjahn, Mathias und Piltz, Björn (2009) Validierung von mobilen Stereokamerasystemen in einem 3D-Testfeld. 3D-NordOst , 10.12.-11. Dez. 2009 , Berlin. (im Druck)
For Containers, Trailer and Wall:
Sandino Morales and Reinhard Klette, “Ground Truth Evaluation of Stereo Algorithms for Real World Applications“. In Proc. Computer Vision ACCV 2010 Workshops, 152-162, 2010.(Click here to download as a bib file).