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.

Features

• multiple scan: contains 10 scans of the same street scenes to provide illumination variation
• semi-auto labeling: 3002 samples with semi-auto pixel level labeling

Class Definitions