Overview

The HD1K Benchmark Suite is an autnonomous driving dataset and benchmark for optical flow. This dataset was created by the Heidelberg Collaboratory for Image Processing in close cooperation with Robert Bosch GmbH.

For the public training dataset, we provide:

> 1000 frames at 2560x1080 with diverse lighting and weather scenarios
reference data with error bars for optical flow
evaluation masks for dynamic objects
specific robustness evaluation on challenging scenes

Data Format

Scene Content

The data was captured in a controlled environment with systematic variation of traffic scenarios, weather, and lighting conditions. The data was acquired at a frame rate of 200Hz with a resolution of 2560x1080.

diverse traffic scenarios

dawn and night scenes

lens flare and reflections

raindrops on windshield

Reference Data with Error Bars

We provide ground truth with uncertainties for optical flow. Creating flow ground truth for real world images is a measurement task and is therefore never perfectly accurate. We propagate measurement uncertainties through the data generation pipeline to obtain per-pixel flow distributions. The interquartile ranges of these distributions are reported as uncertainties.