Stereo Vision Laboratory

7. The KITTI Benchmark Suite

Color stereo image citation

Since I have used only TSUKUBA stereo images as benchmark images, I would like to use newer benchmark images. The KITTI Vision Benchmark Suite Provides benchmark images for automated driving technology. The license is "The Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License". Here we quote two images on the left and right from a huge amount of data. Please follow this license for the reuse of these two images. Stereo Evaluation 2012 You can get it by pressing the Download stereo / optical flow data set (2 GB) button on the page.

quote training/colored_0/000000_10.png as L000000_10.png
quote training/colored_1/000000_10.png as R000000_10.png

from the file group obtained by expanding the data_stereo_flow.zip file. It seems that it is the 10th frame of the first scene 000000 of the stereo image by color. The 11th frame is also included, which seems to be an optical flow benchmark. These two images are shown below.

Application result of gaze_line-depth model

The disparity file resulting from applying depth_stereo.cpp from article 3 is

. The execution was

./depth_gpu R000000_10.png L000000_10.png 68 0 14 1023 1 3

. The last 3 is the scale factor value. A maximum parallax of 68 can be found visually using 3d_stereo.cpp. The minimum parallax is 0 because a very distant view is shown. Next, the result of applying 3d_stereo.cpp is

Video generated from two stereo images

. 3d_stereo.cpp used the article 1 with the following one character key command added.

List of one key commands
character	function
6	video(result.avi) out
H	eye move left
J	eye move down
K	eye move up
L	eye move right
F	eye move forward
N	eye move back
C	clear angle and position

In addition, the description of the function was changed with

List of one key commands
character	function
h	eye move left angle
j	eye move down angle
k	eye move up angle
l	eye move right angle

. Lower case "h, j, k, l, f, n keys" commands are actions around the origin, while upper case "H, J, K, L, F, N keys" commands move along the coordinate axes It becomes. Download new 3d_stereo.cpp and makefile , type

make 3d_g

, compile and start. As you can see from the makefile, the program starts with

./3d_gpu R000000_10.png L000000_10.png 68 0 14 1023 1

. To make a movie, first cut the graph with the ", key". Next, instruct the movie creation with "6 keys". In "6 keys", you can move forward, watch a little while looking forward, move forward a little, and then return to the original video. It ends with "q key". This video file result.avi is a bit large, so encode it to an m4v file using the Mac or Window function. Since it takes time to cut the graph, it is not possible with CPU.