i.c.sens Stereo Image Vehicle Dataset
The i.c.sens Stereo Image Vehicle Dataset is a dataset for vehicle detection, pose estimation, and reconstruction. It consists of street-level stereo images and delivers reference information for the 3D pose and shape of vehicles being visible in the scene. For the acquisition of the data, a vehicle was equipped with a synchronised and calibrated stereo camera rig and stereoscopic image sequences were recorded in urban environments in the city of Hanover for the generation of the data set. Vehicle CAD models are manually fitted to the observations and are provided as reference data.
Examples of the reference CAD models can be seen in the subsequent figure:
Details on the data and its usage can be found in the provided documentation file.
Related Publications:
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Coenen, M. and Rottensteiner, F., 2019: Probabilistic Vehicle Reconstruction Using a Multi-Task CNN. In: IEEE International Conference on Computer Vision Workshops (ICCV Workshops), pp. 822-831. https://ieeexplore.ieee.org/document/9022056
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Schön, S., Brenner, C., Alkhatib, H., Coenen, M., Dbouk, H., Garcia-Fernandez, N., Fischer, C., Heipke, C., Lohmann, K., Neumann, I., Nguyen, U., Paffenholz, J.-A., Peters, T., Rottensteiner, F., Schachtschneider, J., Sester, M., Sun, L., Vogel, S., Voges, R. and Wagner, B., 2018: Integrity and Collaboration in Dynamic Sensor Networks. Sensors 18(7), pp. 2400-2421. https://www.mdpi.com/1424-8220/18/7/2400
Data and Resources
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CADmodels.rarobj
CAD vehicle models used as references File size: 63.7 KByte
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calib.rarTXT
Camera calibration data of the stereo images File size: 119.3 KByte
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demo.rarmatlab
Demo code for the usage of the reference labels File size: 10.2 MByte
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label.rarTXT
Reference labels for the vehicle detection, pose and shape File size: 316.6 KByte
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DocumentationPDF
Detailled documentation of the dataset File size: 24.5 MByte
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ExampleCADLabelsPNG
Examplary visualisiation of the reference CAD models File size: 1.5 MByte
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img_left.rarRAR
Image sequence for left camera File size: 1.6 GByte
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img_right.rarRAR
Image sequence for right camera File size: 1.6 GByte
Cite this as
Max Coenen (2020). Dataset: i.c.sens Stereo Image Vehicle Dataset. https://doi.org/10.25835/0078519
Retrieved: June 9, 2023, 09:42 (+0200)
Additional Info
| Field | Value |
|---|---|
| Author | Max Coenen |
| Maintainer | Max Coenen |
| Last Updated | January 20, 2022, 14:49 (+0100) |
| Created | June 15, 2020, 17:21 (+0200) |
| License | Creative Commons Attribution-NonCommercial 3.0 |
| Dataset Size | 3.2 GByte |