HD1K
Optical Flow
Autonomous Driving
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License: Unknown

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

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dawn and night scenes

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lens flare and reflections

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raindrops on windshield

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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.

optical flow ground truth

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optical flow uncertainty

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Data Summary
Type
Image,
Amount
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Size
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Provided by
Heidelberg Collaboratory for Image Processing
The Heidelberg Collaboratory for Image Processing (HCI) is an "Industry on Campus" project and is run jointly by the Heidelberg University and the companies: Bosch, Heidelberg Engineering, Volume Graphics and Bayer.
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