Scene Flow Estimation

KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute) is one of the most popular datasets for use in mobile robotics and autonomous driving. It consists of hours of traffic scenarios recorded with a variety of sensor modalities, including high-resolution RGB, grayscale stereo cameras, and a 3D laser scanner. Despite its popularity, the dataset itself does not contain ground truth for semantic segmentation. However, various researchers have manually annotated parts of the dataset to fit their necessities. Álvarez et al. generated ground truth for 323 images from the road detection challenge with three classes: road, vertical, and sky. Zhang et al. annotated 252 (140 for training and 112 for testing) acquisitions – RGB and Velodyne scans – from the tracking challenge for ten object categories: building, sky, road, vegetation, sidewalk, car, pedestrian, cyclist, sign/pole, and fence. Ros et al. labeled 170 training images and 46 testing images (from the visual odometry challenge) with 11 classes: building, tree, sky, car, sign, road, pedestrian, fence, pole, sidewalk, and bicyclist. Source: A Review on Deep Learning Techniques Applied to Semantic Segmentation Image Source: http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d

FlyingThings3D is a synthetic dataset for optical flow, disparity and scene flow estimation. It consists of everyday objects flying along randomized 3D trajectories. We generated about 25,000 stereo frames with ground truth data. Instead of focusing on a particular task (like KITTI) or enforcing strict naturalism (like Sintel), we rely on randomness and a large pool of rendering assets to generate orders of magnitude more data than any existing option, without running a risk of repetition or saturation.

Argoverse 2 (AV2) is a collection of three datasets for perception and forecasting research in the self-driving domain. The annotated Sensor Dataset contains 1,000 sequences of multimodal data, encompassing high-resolution imagery from seven ring cameras, and two stereo cameras in addition to lidar point clouds, and 6-DOF map-aligned pose. Sequences contain 3D cuboid annotations for 26 object categories, all of which are sufficiently-sampled to support training and evaluation of 3D perception models. The Lidar Dataset contains 20,000 sequences of unlabeled lidar point clouds and map-aligned pose. This dataset is the largest ever collection of lidar sensor data and supports self-supervised learning and the emerging task of point cloud forecasting. Finally, the Motion Forecasting Dataset contains 250,000 scenarios mined for interesting and challenging interactions be- tween the autonomous vehicle and other actors in each local scene. Models are tasked with the prediction of future motion for “scored actors" in each scenario and are provided with track histories that capture object location, heading, velocity, and category. In all three datasets, each scenario contains its own HD Map with 3D lane and crosswalk geometry — sourced from data captured in six distinct cities. We believe these datasets will support new and existing machine learning research problems in ways that existing datasets do not. All datasets are released under the CC BY-NC-SA 4.0 license.

DeformingThings4D is a synthetic dataset containing 1,972 animation sequences spanning 31 categories of humanoids and animals. It provides 200 animations for humanoids and 1772 animations for animals. #### Use case of the dataset The dataset is designed to tackle the following tasks using data-driven approaches: - Scene flow estimation - Non-rigid tracking/registration - Shape and motion completion - Learning riggings from observation - Generic non-rigid reconstruction Source: DeformingThings4D dataset Image source: DeformingThings4D dataset

Spring is a large, high-resolution and high-detail, computer-generated benchmark for scene flow, optical flow, and stereo. Based on rendered scenes from the open-source Blender movie "Spring", it provides photo-realistic HD datasets with state-of-the-art visual effects and ground truth training data. Source: Spring: A High-Resolution High-Detail Dataset and Benchmark for Scene Flow, Optical Flow and Stereo Image Source: https://arxiv.org/pdf/2303.01943v1.pdf

This dataset presents a vision and perception research dataset collected in Rome, featuring RGB data, 3D point clouds, IMU, and GPS data. We introduce a new benchmark targeting visual odometry and SLAM, to advance the research in autonomous robotics and computer vision. This work complements existing datasets by simultaneously addressing several issues, such as environment diversity, motion patterns, and sensor frequency. It uses up-to-date devices and presents effective procedures to accurately calibrate the intrinsic and extrinsic of the sensors while addressing temporal synchronization. During recording, we cover multi-floor buildings, gardens, urban and highway scenarios. Combining handheld and car-based data collections, our setup can simulate any robot (quadrupeds, quadrotors, autonomous vehicles). The dataset includes an accurate 6-dof ground truth based on a novel methodology that refines the RTK-GPS estimate with LiDAR point clouds through Bundle Adjustment. All sequences divided in training and testing are accessible through our website.

Middlebury 2003 is a stereo dataset for indoor scenes. Source: https://vision.middlebury.edu/stereo/data/scenes2003/ Image Source: https://vision.middlebury.edu/stereo/data/scenes2003/

We use Kubric and ESIM simulator to make our EKubric dataset, which has 15,367 RGB-PointCloud-Event pairs with annotations (including optical flow, scene flow, surface normal, semantic segmentation and object coordinates ground truths).