摘要

我们提供了一个新的可用于单目深度估计测试的稀疏深度标注数据集，包括140帧分辨率为1920*1080的图像及其稀疏深度标注。该数据集的主要标注目标是图片红框中的平地（忽略地面突起），我们通过博世激光测距仪GLM80（测量范围为80m，测量误差为±1.5mm）测量平地到相机的距离为21.678m。图片中绿框中的区域为周围的建筑物，其深度连续变化，我们没有进行标注。

Abstract

We provide a new monocular depth estimation evaluation dataset with sparse depth annotaion. The captured subject of the dataset is the plain land as the area in the red rectangle window omitting the protrusions. We obtain the depth value from the camera to the plain land, which is 21.678 meters, through the laser rangefinder GLM80. The measurement error of GLM80 is ±1.5mm in the measurement range of 80m, which is much lower than that of the estimation from models, thus the measured depth can be viewed as the ground truth. Areas in the green rectangle windows are from the surrounding buildings with continuous depth, which we don't annotate.

内容

• 140张分辨率为1920*1080的俯拍图像

• 每张图像中包含平地及其周围建筑

• 对平地进行稀疏深度标注的mat文件

• 拍摄设备：Canon EOS 80D, 18-135mmIS USM镜头

有关更多详细信息，请参阅数据中包含的README文件。

Contents

• 140 aerial images with 1920*1080 resolution

• Each image contains flat land and its surrounding buildings.

• The MAT file contains the sparse depth annotation for the flat land.

• Equipment: Canon EOS 80D, 18-135mmIS USM.

数据下载

BHDE-v1: 

 bhde_depth_v1.zip