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)

• 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)

• 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.

SEQUENCE NAME	TOTAL FRAMES
Bridge	251
LEFT CAMERA	RIGHT CAMERA
Bridge-Left.7z	Bridge-Right.7z

SEQUENCE NAME	TOTAL FRAMES
City	301
LEFT CAMERA	RIGHT CAMERA
City-Left.7z	City-Right.7z

SEQUENCE NAME	TOTAL FRAMES
Overheadwires	301
LEFT CAMERA	RIGHT CAMERA
Overheadwires-Left.7z	Overheadwires-Right.7z

SEQUENCE NAME	TOTAL FRAMES
Cyclist	400
LEFT CAMERA	RIGHT CAMERA
cyclist-left.7z	cyclist-right.7z

SEQUENCE NAME	TOTAL FRAMES
Motorway	400
LEFT CAMERA	RIGHT CAMERA
motorway-left.7z	motorway-right.7z

SEQUENCE NAME	TOTAL FRAMES
Roundabout	275
LEFT CAMERA	RIGHT CAMERA
roundabout-left.7z	roundabout-right.7z

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.