Active-Passive SimStereo

Citation Author(s):
Laurent Valentin
University of Western Australia
Murdoch University and University of South Australia
University of Western Australia
University of Western Australia
Submitted by:
Laurent Jospin
Last updated:
Wed, 06/15/2022 - 22:28
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The Active-Passive SimStereo dataset is a simulated dataset created with Blender containing high quality both realistic and abstract looking images. Each image pair is rendered in classic RGB domain, as well as Near-Infrared with an active pattern. It is meant to be used as a dataset to study domain transfert between active and passive stereo vision, as well as providing a high quality active stereo dataset, which are far less common than passive stereo datasets.


Dataset content

The dataset contains 528 image pairs, which are pre-splitted into a test set of 103 image pairs  and a train set of 425 image pairs.

The images have a standard resolution of 640x480 pixels.

The provided ground truth is precise up to floating point precision.

Raw images and ground truth disparities

The raw images in linear color space, as well as the ground truth disparities, are provided as exr images with 32bits floating point precision.

To read the different layers, any exr library should work fine. We are using the python module provided by the exr-tools project by french-paragon:

You can also inspect the content of the images with the embeded image viewer in blender or any software capable of reading exr images.

  • The left and right images are contained in the Left, Respectively Right, Layers.
  • The Color, Nir and Disparity Images are contained in the Color, Nir and Disp passes.
  • The Color passe is made up of the standard R, G and B channels
  • The Nir pass is made up of a single A channel
  • The Disp pass is made up of a single D channel

Additional Disparity formats

To make the ground truth disparities easier to use in a variety of situation, we do provide them in npy (python numpy) and pfm (portable float map) formats as well.

Color managed images

We also exported colormanaged perceptual images (sRGB instead of RGB Linear color space) in standard jpg format if you prefer to use these.

The Images are in the rgbColormanaged and nirColormanaged folder. Each image pair is made up of two images with the same name, but the left or right suffix. You can open them with any software or library able to read .jpg images


[EDIT 04-26-2022] Simulation toolkit

We made the simulation toolkit we used to produce the dataset available, so that you can create your own images if you need to. See the file.

[EDIT 06-15-2022] Additional formats for the disparities

We added more image formats for the ground truth disparities to make them easier to use in a variety of scenarios.



Submitted by WASEEM SHARIFF on Tue, 03/01/2022 - 07:06


Submitted by WASEEM SHARIFF on Tue, 03/01/2022 - 07:06