DIPLODOC Road Stereo Sequence is a labelled road sequence of 865 image pairs taken from a stereo camera mounted on a moving vehicle. We used these images to benchmark our stereo algorithm for road and obstacle detection. The road region was manually segmented and it is proposed as ground truth for performance evaluation of road detection algorithms. The sequence is the composition of five sub-sequences, each of them presenting very different traffic and road conditions: from highway-like roads to urban scenarios with crossroads, parking lots and complex environments; from congested traffic to completely free roads. The images were captured on July, 16 2004, about 11 a.m., near Trento, ITALY. The following map shows where the sub-sequences were taken.
The acquisition device was a Videre Design MEGA-D stereo camera pair installed near the rear-view mirror. The sequence is 15 fps, 320x240, color. The images are saved in the lossless format PNG without any pre-processing.
The stereo pair is calibrated with the SVS software and the camera parameters are included in the downloadable file. Here an example of left and right images in the sequence (frame no. 202):
The definition of road given to the labeller was: "everywhere a car could drive without going up a step". The ground truth for an image is saved as a set of polygons. Some of them represent ideal road regions, some of them represent objects that occlude portions of the road. From these regions it is possible to compute the road region actually visible in the considered image. The following figure presents an example (frame no. 202), with one road region and two occluding regions. The image on the right is the derived visible road region.
Disclaimer: DIPLODOC road stereo sequence, with ground truth data, camera parameters and its documentation is provided for research or academic purposes only. Publications and works that use this dataset should please refer to the following technical report:
M. Zanin, S. Messelodi, C. M. Modena, "DIPLODOC road stereo sequence", FBK Technical Report Nr. 164010