Our complex street scene(CSS) containing strong light and heavy shadow scenes mainly comes from the Kitti dataset.  Our datasets are captured by driving around Karlsruhe's mid-size city, in rural areas, and on highways. We equipped a standard station wagon with two high-resolution color and grayscale video cameras. Up to 15 cars and 30 pedestrians are visible per image. We aim to verify the performance of the algorithm in specific and complex street scenes.