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Middlebury Stereo
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Jun 20, 2021 7:38 AM
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Overview

The Muddlebury Stereo Dataset is collected under the support of Middlebury College.The dataset is developed for online evaluation dense two-frame stereo algorithms.

Data Format

2001 Stereo datasets with ground truth

These datasets of piecewise planar scenes were created by Daniel Scharstein, Padma Ugbabe, and Rick Szeliski. Each set contains 9 images (im0.ppm - im8.ppm) and ground-truth disparity maps for images 2 and 6 (disp2.pgm and disp6.pgm). Each ground-truth disparity map is scaled by a factor of 8. For example, a value of 100 in disp2.pgm means that the corresponding pixel in im6.ppm is 12.5 pixels to the left.

2003 Stereo datasets with ground truth

These datasets were created by Daniel Scharstein, Alexander Vandenberg-Rodes, and Rick Szeliski. They consist of high-resolution stereo sequences with complex geometry and pixel-accurate ground-truth disparity data. The ground-truth disparities are acquired using a novel technique that employs structured lighting and does not require the calibration of the light projectors. See our CVPR 2003 paper for more details.

Quarter-size (450 x 375) versions of our new data sets "Cones" and "Teddy" are available for download. Each data set contains 9 color images (im0..im8) and 2 disparity maps (disp2 and disp6). The 9 color images form a multi-baseline stereo sequence, i.e., they are taken from equally-spaced viewpoints along the x-axis from left to right. The images are rectified so that all image motion is purely horizontal. To test a two-view stereo algorithm, the two reference views im2 (left) and im6 (right) should be used. Ground-truth disparites with quarter-pixel accuracy are provided for these two views. Disparities are encoded using a scale factor 4 for gray levels 1 .. 255, while gray level 0 means "unknown disparity". Therefore, the encoded disparity range is 0.25 .. 63.75 pixels.

2005 Stereo datasets with ground truth

These 9 datasets were created by Anna Blasiak, Jeff Wehrwein, and Daniel Scharstein at Middlebury College in the summer of 2005, and were published in conjunction with two CVPR 2007 papers [3, 4]. Each image below links to a directory containing the full-size views and disparity maps. Shown are the left views; moving the mouse over the images shows the right views. We're withholding the true disparity maps for three of the sequences (Computer, Drumsticks, and Dwarves) which we may use in future evaluations.

ArtBooksDolls
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LaundryMoebiusReindeer
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ComputerDrumsticksDwarves
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2006 Stereo datasets with ground truth

These 21 datasets were created by Brad Hiebert-Treuer, Sarri Al Nashashibi, and Daniel Scharstein at Middlebury College in the summer of 2006, and were published in conjunction with two CVPR 2007 papers [3, 4]. Each image below links to a directory containing the full-size views and disparity maps. Shown are the left views; moving the mouse over the images shows the right views.

AloeBaby1Baby2
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2014 Stereo datasets with ground truth

These 33 datasets were created by Nera Nesic, Porter Westling, Xi Wang, York Kitajima, Greg Krathwohl, and Daniel Scharstein at Middlebury College during 2011-2013, and refined with Heiko Hirschmüller at the DLR Germany during 2014. A detailed description of the acquisition process can be found in GCPR 2014 paper.

20 of the datasets are used in the new Middlebury Stereo Evaluation (10 each for training and test sets). Except for the 10 test datasets, we provide links to directories containing the full-size views and disparity maps. Shown are the left views at 5% resolution; moving the mouse over the images shows the right views.

10 evaluation test sets (GT hidden)
Australia img imgBicycle2 img imgClassroom2 img imgCrusade img imgDjembe img img
Hoops img imgLivingroom img imgNewkuba img imgPlants img imgStaircase img img
10 evaluation training sets with GT
Adirondack: perf, imp img imgJadeplant: perf, imp img imgMotorcycle: perf, imp img imgPiano: perf, imp img imgPipes: perf, imp img img
Playroom: perf, imp img imgPlaytable: perf, imp img imgRecycle: perf, imp img imgShelves: perf, imp img imgVintage: perf, imp img img
13 additional datasets with GT
Backpack: perf, imp img imgBicycle1: perf, imp img imgCable: perf, imp img imgClassroom1: perf, imp img imgCouch: perf, imp img img
Flowers: perf, imp img imgMask: perf, imp img imgShopvac: perf, imp img imgSticks: perf, imp img imgStorage: perf, imp img img
Sword1: perf, imp img imgSword2: perf, imp img imgUmbrella: perf, imp img img

Citation

Please use the following citation when referencing the dataset:

@inproceedings{inproceedings,
author = {Scharstein, Daniel and Szeliski, Richard and Zabih, Ramin},
year = {2001},
month = {02},
pages = {131-140},
title = {A taxonomy and evaluation of dense two-frame stereo correspondence algorithm},
volume = {47},
isbn = {0-7695-1327-1},
journal = {Int. J. Comput. Vision},
doi = {10.1109/SMBV.2001.988771}
}
🎉Many thanks to Graviti Open Datasets for contributing the dataset
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Updated on2021-01-20 04:38:40
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