The ZPark_2K Dataset contains images, depth maps and pixel level semantic labels of 2 kilometer urban street scenes.
The figure below shows one image set, including the orginal image, the overlayed segmented image, the depth map, and the color-coded semantic label map.
The raw data is aquired with a survey grade mobile scanner, together with high-resolution color cameras. The 3D point cloud has an average point density of 2cm and a depth accuracy of better than 1cm. The point cloud is precisely registered with color images. For each image, a synthesized depth map is rendered using the 3D point cloud. In this way, we created an outdoor high-precision RGB-D image sequence with per-pixel semantic labels.
In the following, we give an overview of design choices and detailed data specifications.
class | class_id | category | category_id | color_code |
---|---|---|---|---|
others | 0 | others | 0 | 000000 |
sky | 17 | sky | 1 | 87ceeb |
motor vehicle | 33 | moving object | 2 | 400080 |
non-motor vehicle | 34 | moving object | 2 | 4080c0 |
pedestrian | 35 | moving object | 2 | 404000 |
rider | 36 | moving object | 2 | 0080c0 |
other flat | 48 | flat | 3 | 804080 |
motorway | 49 | flat | 3 | 8000c0 |
bicycle lane | 50 | flat | 3 | c00040 |
sidewalk | 51 | flat | 3 | 8080c0 |
other boundary | 64 | boundary | 4 | 804040 |
curb | 65 | boundary | 4 | c080c0 |
other roadblock | 80 | roadblock | 5 | c08040 |
traffic cone | 81 | roadblock | 5 | 000040 |
road pile | 82 | roadblock | 5 | 0000c0 |
fence | 83 | roadblock | 5 | 404080 |
other object | 96 | object | 6 | c04080 |
street lamp | 97 | object | 6 | c08080 |
traffic light | 98 | object | 6 | 004040 |
pole | 99 | object | 6 | c0c080 |
traffic sign | 100 | object | 6 | 4000c0 |
billboard | 101 | object | 6 | c000c0 |
bus stop board | 102 | object |