Set 7

Consecutive stereo image pairs with ground truth for scene labeling analysis (segmentation)

Sequence Length (Frames) 2
Colour / Grey Grey
Colour Depth 12-bit
Resolution (pixels) 640 x 480
Stereo Rectified Yes
Ego-motion data Yes
Object data Yes
  • Consecutive stereo image pairs provided by Daimler AG (2010).
  • Ground truth is only available for the second left camera in color and grey scale.
  • Intrinsic and extrinsic camera parameters are available for download.
  • The position of the tracked objects are available for download.

Sample Images & Downloads

  • Each sequence is less than 1MB.
  • Click here for a description of the ground truth data.
Sequence Intersection
Download (724 KB)
Description An intersection scene with four oncoming cars. This scene contains partial occlusions, distant objects, as well as two nearby objects that move in the same direction with approximately equal velocity.
Sequence Stroller
Download (830 KB)
Description A pedestrian with a stroller is walking in front of a crossing car. The pose and motion state of the car is known from tracking. The pedestrian casts a strong stereo shadow on the object, i.e., there are large regions that can only be seen from one camera.
Sequence Lead vehicle
Download (974 KB)
Description The ego-vehicle follows the lead vehicle at approximately the same velocity through dense urban traffic, including two oncoming cars, a slow moving trailer ahead, and one car entering the visible field from the right.


Alexander Barth, Jan Siegemund, Annemarie Meissner, Uwe Franke, and Wolfgang Förstner, “Probabilistic Multi-Class Scene Flow Segmentation for Traffic Scenes“, in Proc. 32th Annual Symposium of the German Association for Pattern Recognition (DAGM ’10), 1-10, 2010. (click here to download this as a bib file).

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