Set 6


SET 6

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:
  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).