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)

• 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)

• 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:

1. Block matcher.
2. Correlation matcher.
3. SGM approach.
4. 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).