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 below. 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.

Cones


im2
im6
disp2
disp6

Teddy


im2
im6
disp2
disp6
 

The half-size and full-size data sets are available here.
F - full size: 1800 x 1500
H - half size: 900 x 750
Q - quarter size: 450 x 375 (same as above)

The occlusion, textureless, and discontinuity maps in png format are available here. The original (quarter-size) maps are in cones, teddy; the half-size maps are in cones2, teddy2. The entire testing directory (containing all input and output images in pgm/ppm format, as well as all scripts) is available here.

Last modified: Fri Jan 16 09:57:16 EST 2015 by Daniel Scharstein