sceneflow 数据集多少张图片_Autonomous Driving

Overview

The sceneflow 2015 benchmark consists of 200 training scenes and 200 test scenes (4 color images

per scene, saved in loss less png format). It comprises dynamic scenes for which the ground

truth has been established in a semi-automatic process. Our evaluation server computes the

percentage of bad pixels averaged over all ground truth pixels of all 200 test images. For

this benchmark, we consider a pixel to be correctly estimated if the disparity or flow end-point

error is <3px or <5% (for scene flow this criterion needs to be fulfilled for both disparity

maps and the flow map). We require that all methods use the same parameter set for all test

pairs. Our development kit provides details about the data format as well as MATLAB / C++ utility

functions for reading and writing disparity maps and flow fields. More details can be found

in Object Scene Flow for Autonomous Vehicles (CVPR 2015).

Data Collection

We equipped a standard station wagon with two high-resolution color and grayscale video cameras.

Accurate ground truth is provided by a Velodyne laser scanner and a GPS localization system.

Our datsets are captured by driving around the mid-size city of Karlsruhe, in rural areas and

on highways. Up to 15 cars and 30 pedestrians are visible per image.