Ground Truth Stixel Dataset

Original web site: https://www.6d-vision.com/current-research/ground-truth-stixel-dataset

We have annotated twelve stereo highway sequences with ground truth regarding the free space (stixels), some with heavy rain. Find attached the raw image data (rectified pgms, 12bit/px), the ground truth stixels in xml format, the vehicle data (velocity, yaw rate, and timestamp) and the camera geometry along with a description how to use the data. All is offered to download in two zip-files.

The ground truth was acquired with manual annotations and exploiting known ego-motion for static structures. For moving objects, a vehicle tracker was used with supervision.

If you use the data, please cite the following paper:
[1] David Pfeiffer, Stefan K. Gehrig, Nicolai Schneider: "Exploiting the Power of Stereo Confidences", Proceedings of the CVPR 2013, Portland, OR, USA [download].

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Stixel Ground Truth Data Set part 1 (good weather): good weather (1.6GB)

Stixel Ground Truth Data Set part 2(bad weather): bad weather (1.6GB)

For example images see stixel results as described in [1]
The provided meta data in xml has the following units:
Velocity/speed : in m/s
Timestamp: in ns
Recording framerate: 25Hz

If you are interested in more detailed ground truth stereo, that covers most of the image, we recommend

the stereo benchmark (and raw data) of the KITTI homepage:
http://www.cvlibs.net/datasets/kitti/eval_stereo_flow.php?benchmark=stereo.
For questions on how to interpret the data: mail stefan.gehrig (at) daimler.com