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

Sequence Length (Frames)	400
Colour / Grey	Grey
Colour Depth	10-bit
Resolution (pixels)	640 x 480
Stereo Rectified	Yes
Ego-motion data	No

• Set of 8 sequences recorded with a three camera set up in a quasi-linear horizontal position (left, center and right).
• The images of the three cameras have been rectified (each 3-tuple satisfy the standard epipolar geometry).
• Stereo analysis can be performed using the left-center, left-right and center-right configurations.
• The calibration file of each stereo camera is available for download.

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Sample Images & Downloads

• Videos of each sequence (at increased speed) can be seen by clicking on the images below.
• The sequences are of 600 to 870MB.

Camera params:	Dusk Sequence	All Others
Left-center stereo	lc_camera_dusk.dat	lc_camera.dat
Left-right stereo	lr_camera_dusk.dat	lr_camera.dat
Center-right stereo	cr_camera_dusk.dat	cr_camera.dat

Sequence Name		Total frames
Barriers		400
Left	Center	Right
left_barriers.7z	center_barriers.7z	right_barriers.7z

Sequence Name		Total frames
Dusk		400
Left	Center	Right
left_dusk.7z	center_dusk.7z	right_dusk.7z

Sequence Name		Total frames
Harbour bridge		400
Left	Center	Right
left_bridge.7z	center_bridge.7z	right_bridge.7z

Sequence Name		Total frames
Midday		400
Left	Center	Right
left_midday.7z	center_midday.7z	right_midday.7z

Sequence Name		Total frames
Night		400
Left	Center	Right
left_night.7z	center_night.7z	right_night.7z

Sequence Name		Total frames
People		400
Left	Center	Right
left_people.7z	center_people.7z	right_people.7z

Sequence Name		Total frames
Queen street		400
Left	Center	Right
left_queen.7z	center_queen.7z	right_queen.7z

Sequence Name		Total frames
Wiper		400
Left	Center	Right
left_wiper.7z	center_wiper.7z	right_wiper.7z

Reference:

For Harbour bridge, Barriers, Queen street and People:
Simon Hermann, Sandino Morales, and Reinhard Klette, “Half Resolution Semi-Global Matching“, In Proc.2011 IEEE Intelligent Vehicles Symposium (IEEE IV ’11) (Click here to download this as a bib file).

For Dusk, Midday, Night and Wiper:
Konstantin Schauwecker, Sandino Morales, Simon Hermann and Reinhard Klette, “A Comparative Study of Stereo-Matching Algorithms for Road Modelling in the Presence of Windscreen Wipers“, In Proc.2011 IEEE Intelligent Vehicles Symposium (IEEE IV ’11) (Click here to download this as a bib file).