Stereo Matching
|Depth Estimation
License: Unknown


The REAL3 dataset contains 8 different real world scenes acquired with a Kinect v2 ToF sensor and a ZED stereo camera. Ground truth information acquired with a line laser in order to allow the numerical evaluation of stereo-ToF fusion algorithms on real world data.

Data Format

File Format

Dataset is in zip file form.It contains one folder for each of the 8 scenes containing the following data:

- The rectified left color image from the ZED stereo camera (zed_left.png) - The rectified right color image from the ZED stereo camera (zed_right.png) - The Kinect v2 ToF depth map (kinect_depth.png) - The Kinect v2 ToF amplitude (kinect_amplitude.png) - The ground truth disparity map (gt_depth.png)

In order to store the floating point data of amplitude and depth into PNG images we used a custom representation where a 4 channel png is used to store the 32 bit representation. The imread32f.m file contains a simple MATLAB script for loading data from the amplitude, depth and ground truth files.

Finally the calibrationREAL.xml file contains the intrinsic and extrinsic parameters of the employed setup. The format of the calibration data is the one used by the OpenCV computer vision library, refer to the documentation of OpenCV for more details.


Please use the following citation when referencing the dataset:

author = {Agresti, Gianluca and Minto, Ludovico and Marin, Giulio and Zanuttigh, Pietro},
year = {2018},
month = {11},
pages = {},
title = {Stereo and ToF Data Fusion by Learning from Synthetic Data},
volume = {49},
journal = {Information Fusion},
doi = {10.1016/j.inffus.2018.11.006}
Data Summary
Depth, Image,
Provided by
Multimedia Technology and Telecommunications Lab
Multimedia Technology and Telecommunications Lab is a lab of University of Padova
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