Computer Vision Laboratory (CVL)

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DATASET DESCRIPTION

A short description of the dataset can be found in the paper published on CVPR 2013 workshop "Ground Truth - What is a good dataset?" . The paper can also be accessed here .

Please cite us, when using this dataset.

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DOWNLOAD SAMPLE SEQUENCES

The table below shows the actual list of recorded sequences. Sequences marked with ^ are not distributed via web. Only sample images are available. Further information about how to get these sequences can be found in the distribution section . Sequences marked with * can be downloaded fully. Those sequences are short ones for demonstration purpose. Therefore the driven way is minor and not mentioned.

Paper name	Sequence name	Length [km]	#Frames	Size [GB]	Specifics
Seq1	20130227_CVL_0_ AroundLHouse^	0.7	4180	45	Loop closing, (nearly) static scene, partly snow
Seq2	20130227_CVL_1_ ToLambohov^	2.9	9826	106	real traffic, partly snow
Seq3	20130227_CVL_2_ RoundsInLambohov^	1.4	6689	72	Loop closing, suburban area, little traffic, low altitude of sun
Seq4	20130227_CVL_3_ GarnisonenToValla^	4.6	21912	236	Urban area, traffic, low altitude of sun
Seq5	20130319_CVL_0_ OnValla^	1.4	6469	70	Snow
Seq6	20130319_CVL_1_ VallaToTornby^	4.3	19844	210	Snow, urban area, traffic, water and snow on lens
Seq7	20130319_CVL_2_ TornbyToValla^	9.1	39830	430	Snow, urban area, traffic, water and snow on lens
-	20130530_CVL_0_ DrivingARound *	-	720	8	Short sequence
-	20130530_CVL_1_ StraightForward *	-	522	6	Short sequence
-	20130530_CVL_2_ Turn *	-	674	7	Short sequence
-	20130530_CVL_3_ BackwardForward *	-	631	7	Short sequence
-	20130530_CVL_4_ Braking *	-	317	4	Short sequence
-	20130530_CVL_5_ Parking *	-	680	7	Short sequence
-	20130530_CVL_6_ AroundRoundabout^	2.1	5146	55	Short sequence, real traffic

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DATASET DISTRIBUTION

Due to the high frame rate and resolution of the cameras, the number of the cameras and the lossless raw image storage one whole sequence can easily reach several Gigabytes. Therefore a download of the sequences is hardly possible.

We offer instead to send the whole set of sequences on an external hard drive disk by a price of 4000 Swedish Krona(SEK) incl. worldwide shipping (as of 2013-06-23, this price may change). Feel free to contact us .

Note: Shipping starts as soon as possible. Information about shipping can be found here.

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API DOWNLOAD

For reading the sensor data stored in streamfiles an API is needed, the StreamReader . There are different APIs for different programming languages. The specific APIs can downloaded by clicking on the corresponding programming language. Documentation of the functions is inline. A common description of the functions can be found in the C/C++-documentation .

C/C++

Python

Matlab

ROS

For initialization the API needs the paths to the project on the one hand and to a XML file on the other hand which describes the IDs and messages used in the streamfiles. These paths can be committed directly or stored in a XML file which is used instead (more information in the API documentation). Below are the mandatory message/ID XML file and an example file of the initialization XML file.

Init XML file

Message/ID XML file

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FURTHER INFORMATION

Furthermore, information about the experimental setup, the stream format, etc. can be found in the links below.

Sketches of the experimental setup

Detailed sensor description incl. camera calibration parameter

Stream format description

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GUIDELINES FOR EXPANDING OUR WORK

Information to be published soon.

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COPYRIGHT AND CONTACT

AMUSE dataset by CVL, Linköping University, is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License .

amuse.dataset@isy.liu.se