Set 9

ET 9

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.

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).