Datasets

High-res multi-view: Training data  |  Test data Low-res many-view: Training data  |  Test data Low-res two-view: Training data  |  Test data


High-res multi-view


Training data

Download all undistorted jpg images (5.5 GB)
Download all distorted jpg images (4.7 GB)
Download all distorted raw images (12.1 GB)
Download all ground truth (for evaluation) (1.8 GB)
Download all occlusion files (1.2 GB)

Image courtyard - 38 images outdoors
courtyard_dslr_undistorted.7z (0.5 GB)
courtyard_dslr_jpg.7z (0.4 GB)
courtyard_dslr_raw.7z (1.0 GB) 		Ground truth:
courtyard_scan_raw.7z (0.3 GB)
courtyard_scan_clean.7z (0.3 GB)
courtyard_dslr_scan_eval.7z (0.2 GB)
courtyard_dslr_occlusion.7z (0.1 GB)
courtyard_dslr_depth.7z (0.4 GB)
Image delivery area - 44 images indoors
delivery_area_dslr_undistorted.7z (0.5 GB)
delivery_area_dslr_jpg.7z (0.4 GB)
delivery_area_dslr_raw.7z (1.1 GB) 		Ground truth:
delivery_area_scan_raw.7z (0.4 GB)
delivery_area_scan_clean.7z (0.4 GB)
delivery_area_dslr_scan_eval.7z (0.1 GB)
delivery_area_dslr_occlusion.7z (0.1 GB)
delivery_area_dslr_depth.7z (0.4 GB)
Image electro - 45 images outdoors
electro_dslr_undistorted.7z (0.5 GB)
electro_dslr_jpg.7z (0.4 GB)
electro_dslr_raw.7z (1.2 GB) 		Ground truth:
electro_scan_raw.7z (0.6 GB)
electro_scan_clean.7z (0.5 GB)
electro_dslr_scan_eval.7z (0.2 GB)
electro_dslr_occlusion.7z (0.1 GB)
electro_dslr_depth.7z (0.6 GB)
Image facade - 76 images outdoors
facade_dslr_undistorted.7z (1.2 GB)
facade_dslr_jpg.7z (1.1 GB)
facade_dslr_raw.7z (2.2 GB) 		Ground truth:
facade_scan_raw.7z (0.4 GB)
facade_scan_clean.7z (0.4 GB)
facade_dslr_scan_eval.7z (0.2 GB)
facade_dslr_occlusion.7z (0.1 GB)
facade_dslr_depth.7z (0.7 GB)
Image kicker - 31 images indoors
kicker_dslr_undistorted.7z (0.4 GB)
kicker_dslr_jpg.7z (0.4 GB)
kicker_dslr_raw.7z (0.9 GB) 		Ground truth:
kicker_scan_raw.7z (0.3 GB)
kicker_scan_clean.7z (0.3 GB)
kicker_dslr_scan_eval.7z (0.2 GB)
kicker_dslr_occlusion.7z (0.1 GB)
kicker_dslr_depth.7z (0.4 GB)
Image meadow - 15 images outdoors
meadow_dslr_undistorted.7z (0.2 GB)
meadow_dslr_jpg.7z (0.2 GB)
meadow_dslr_raw.7z (0.5 GB) 		Ground truth:
meadow_scan_raw.7z (0.4 GB)
meadow_scan_clean.7z (0.3 GB)
meadow_dslr_scan_eval.7z (0.1 GB)
meadow_dslr_occlusion.7z (0.1 GB)
meadow_dslr_depth.7z (0.1 GB)
Image office - 26 images indoors
office_dslr_undistorted.7z (0.3 GB)
office_dslr_jpg.7z (0.2 GB)
office_dslr_raw.7z (0.7 GB) 		Ground truth:
office_scan_raw.7z (0.3 GB)
office_scan_clean.7z (0.3 GB)
office_dslr_scan_eval.7z (0.1 GB)
office_dslr_occlusion.7z (0.3 GB)
office_dslr_depth.7z (0.4 GB)
Image pipes - 14 images indoors
pipes_dslr_undistorted.7z (0.1 GB)
pipes_dslr_jpg.7z (0.1 GB)
pipes_dslr_raw.7z (0.4 GB) 		Ground truth:
pipes_scan_raw.7z (0.2 GB)
pipes_scan_clean.7z (0.2 GB)
pipes_dslr_scan_eval.7z (0.1 GB)
pipes_dslr_occlusion.7z (0.1 GB)
pipes_dslr_depth.7z (0.1 GB)
Image playground - 38 images outdoors
playground_dslr_undistorted.7z (0.5 GB)
playground_dslr_jpg.7z (0.5 GB)
playground_dslr_raw.7z (1.1 GB) 		Ground truth:
playground_scan_raw.7z (0.3 GB)
playground_scan_clean.7z (0.2 GB)
playground_dslr_scan_eval.7z (0.1 GB)
playground_dslr_occlusion.7z (0.1 GB)
playground_dslr_depth.7z (0.3 GB)
Image relief - 31 images indoors
relief_dslr_undistorted.7z (0.3 GB)
relief_dslr_jpg.7z (0.3 GB)
relief_dslr_raw.7z (0.8 GB) 		Ground truth:
relief_scan_raw.7z (0.4 GB)
relief_scan_clean.7z (0.4 GB)
relief_dslr_scan_eval.7z (0.2 GB)
relief_dslr_occlusion.7z (0.1 GB)
relief_dslr_depth.7z (0.6 GB)
Image relief 2 - 31 images indoors
relief_2_dslr_undistorted.7z (0.3 GB)
relief_2_dslr_jpg.7z (0.3 GB)
relief_2_dslr_raw.7z (0.8 GB) 		Ground truth:
relief_2_scan_raw.7z (0.4 GB)
relief_2_scan_clean.7z (0.4 GB)
relief_2_dslr_scan_eval.7z (0.2 GB)
relief_2_dslr_occlusion.7z (0.1 GB)
relief_2_dslr_depth.7z (0.6 GB)
Image terrace - 23 images outdoors
terrace_dslr_undistorted.7z (0.3 GB)
terrace_dslr_jpg.7z (0.2 GB)
terrace_dslr_raw.7z (0.6 GB) 		Ground truth:
terrace_scan_raw.7z (0.3 GB)
terrace_scan_clean.7z (0.3 GB)
terrace_dslr_scan_eval.7z (0.1 GB)
terrace_dslr_occlusion.7z (0.1 GB)
terrace_dslr_depth.7z (0.4 GB)
Image terrains - 42 images indoors
terrains_dslr_undistorted.7z (0.4 GB)
terrains_dslr_jpg.7z (0.3 GB)
terrains_dslr_raw.7z (1.1 GB) 		Ground truth:
terrains_scan_raw.7z (0.3 GB)
terrains_scan_clean.7z (0.3 GB)
terrains_dslr_scan_eval.7z (0.1 GB)
terrains_dslr_occlusion.7z (0.1 GB)
terrains_dslr_depth.7z (0.5 GB)

Test data

Download all undistorted jpg images (4.5 GB)
Download all distorted jpg images (3.6 GB)
Download all distorted raw images (11.3 GB)

Image botanical garden - 30 images indoors
botanical_garden_dslr_undistorted.7z (0.4 GB)
botanical_garden_dslr_jpg.7z (0.4 GB)
botanical_garden_dslr_raw.7z (0.9 GB)
Image boulders - 26 images outdoors
boulders_dslr_undistorted.7z (0.3 GB)
boulders_dslr_jpg.7z (0.3 GB)
boulders_dslr_raw.7z (0.7 GB)
Image bridge - 110 images indoors
bridge_dslr_undistorted.7z (1.2 GB)
bridge_dslr_jpg.7z (1.0 GB)
bridge_dslr_raw.7z (2.7 GB)
Image door - 7 images indoors
door_dslr_undistorted.7z (0.1 GB)
door_dslr_jpg.7z (0.1 GB)
door_dslr_raw.7z (0.2 GB)
Image exhibition hall - 68 images indoors
exhibition_hall_dslr_undistorted.7z (0.7 GB)
exhibition_hall_dslr_jpg.7z (0.5 GB)
exhibition_hall_dslr_raw.7z (1.7 GB)
Image lecture room - 23 images indoors
lecture_room_dslr_undistorted.7z (0.2 GB)
lecture_room_dslr_jpg.7z (0.2 GB)
lecture_room_dslr_raw.7z (0.6 GB)
Image living room - 65 images indoors
living_room_dslr_undistorted.7z (0.7 GB)
living_room_dslr_jpg.7z (0.5 GB)
living_room_dslr_raw.7z (1.7 GB)
Image lounge - 10 images indoors
lounge_dslr_undistorted.7z (0.1 GB)
lounge_dslr_jpg.7z (0.1 GB)
lounge_dslr_raw.7z (0.2 GB)
Image observatory - 27 images outdoors
observatory_dslr_undistorted.7z (0.3 GB)
observatory_dslr_jpg.7z (0.2 GB)
observatory_dslr_raw.7z (0.7 GB)
Image old computer - 54 images indoors
old_computer_dslr_undistorted.7z (0.5 GB)
old_computer_dslr_jpg.7z (0.3 GB)
old_computer_dslr_raw.7z (1.3 GB)
Image statue - 11 images indoors
statue_dslr_undistorted.7z (0.1 GB)
statue_dslr_jpg.7z (0.1 GB)
statue_dslr_raw.7z (0.3 GB)
Image terrace 2 - 13 images outdoors
terrace_2_dslr_undistorted.7z (0.1 GB)
terrace_2_dslr_jpg.7z (0.1 GB)
terrace_2_dslr_raw.7z (0.3 GB)

Low-res many-view


Training data

Download all undistorted images (1.4 GB)
Download all distorted images (1.7 GB)
Download all ground truth (for evaluation) (0.3 GB)
Download all occlusion files (0.4 GB)

Image delivery area - 4*237 images indoors
delivery_area_rig_undistorted.7z (0.3 GB)
delivery_area_rig.7z (0.3 GB) 		Ground truth:
delivery_area_scan_raw.7z (0.4 GB)
delivery_area_scan_clean.7z (0.4 GB)
delivery_area_rig_scan_eval.7z (0.1 GB)
delivery_area_rig_occlusion.7z (0.1 GB)
delivery_area_rig_depth.7z (0.6 GB)
delivery_area_rig_stereo_pairs_gt.7z (0.9 GB)
Image electro - 4*300 images outdoors
electro_rig_undistorted.7z (0.3 GB)
electro_rig.7z (0.3 GB) 		Ground truth:
electro_scan_raw.7z (0.6 GB)
electro_scan_clean.7z (0.5 GB)
electro_rig_scan_eval.7z (0.1 GB)
electro_rig_occlusion.7z (0.1 GB)
electro_rig_depth.7z (0.6 GB)
electro_rig_stereo_pairs_gt.7z (0.9 GB)
Image forest - 4*257 images outdoors
forest_rig_undistorted.7z (0.4 GB)
forest_rig.7z (0.5 GB) 		Ground truth:
forest_scan_raw.7z (0.7 GB)
forest_scan_clean.7z (0.4 GB)
forest_rig_scan_eval.7z (0.1 GB)
forest_rig_occlusion.7z (0.2 GB)
forest_rig_depth.7z (0.4 GB)
forest_rig_stereo_pairs_gt.7z (0.8 GB)
Image playground - 4*240 images outdoors
playground_rig_undistorted.7z (0.3 GB)
playground_rig.7z (0.4 GB) 		Ground truth:
playground_scan_raw.7z (0.3 GB)
playground_scan_clean.7z (0.2 GB)
playground_rig_scan_eval.7z (0.1 GB)
playground_rig_occlusion.7z (0.1 GB)
playground_rig_depth.7z (0.4 GB)
playground_rig_stereo_pairs_gt.7z (0.7 GB)
Image terrains - 4*165 images indoors
terrains_rig_undistorted.7z (0.2 GB)
terrains_rig.7z (0.2 GB) 		Ground truth:
terrains_scan_raw.7z (0.3 GB)
terrains_scan_clean.7z (0.3 GB)
terrains_rig_scan_eval.7z (0.1 GB)
terrains_rig_occlusion.7z (0.1 GB)
terrains_rig_depth.7z (0.4 GB)
terrains_rig_stereo_pairs_gt.7z (0.6 GB)

Test data

Download all undistorted images (1.9 GB)
Download all distorted images (2.1 GB)

Image lakeside - 4*266 images outdoors
lakeside_rig_undistorted.7z (0.4 GB)
lakeside_rig.7z (0.4 GB)
lakeside_rig_imu.7z (5 MB)
Image sand box - 4*278 images outdoors
sand_box_rig_undistorted.7z (0.4 GB)
sand_box_rig.7z (0.5 GB)
sand_box_rig_imu.7z (4 MB)
Image storage room - 4*199 images indoors
storage_room_rig_undistorted.7z (0.2 GB)
storage_room_rig.7z (0.3 GB)
storage_room_rig_imu.7z (6 MB)
Image storage room 2 - 4*208 images indoors
storage_room_2_rig_undistorted.7z (0.2 GB)
storage_room_2_rig.7z (0.2 GB)
storage_room_2_rig_imu.7z (6 MB)
Image tunnel - 4*352 images outdoors
tunnel_rig_undistorted.7z (0.5 GB)
tunnel_rig.7z (0.6 GB)
tunnel_rig_imu.7z (6 MB)

Low-res two-view


Training data

Download all images (13.6 MB)
Download all ground truth (14.2 MB)

Image delivery_area - 1
Image delivery_area - 2
Image delivery_area - 3
Image electro - 1
Image electro - 2
Image electro - 3
Image facade - 1
Image forest - 1
Image forest - 2
Image playground - 1
Image playground - 2
Image playground - 3
Image terrace - 1
Image terrace - 2
Image terrains - 1
Image terrains - 2

Test data

Download all images (11.8 MB)

Image lakeside - 1
Image sand box - 1
Image storage room - 1
Image storage room - 2
Image storage room - 3
Image storage room 2 - 1
Image storage room 2 - 2
Image tunnel - 1
Image tunnel - 2
Image tunnel - 3