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
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.
optical flow ground truth
optical flow uncertainty