(submitted for review to Pattern Recogntion Letters, Special Issue on Video-based Object and Event Analysis, 2007)
The database addresses the need for experimental data to quantitatively evaluate emerging algorithms. While most videos are filmed with fixed-position CCTV-style cameras, our data was captured from the perspective of a driving automobile. The driving scenario increases the number and heterogeneity of the observed object
classes.
Over ten minutes of high quality 30Hz footage is being provided, with corresponding semantically labeled images at 1Hz and in part, 15Hz. The CamToy Database offers four contributions that are relevant to object analysis researchers. First, the per-pixel semantic segmentation of over 700 images was specified manually, and was then inspected and confirmed by a second person for accuracy. Second, the high-quality and large resolution color video images in the database represent valuable extended duration digitized footage to those interested in driving scenarios or ego-motion. Third, we filmed calibration sequences for the camera color response and intrinsics, and computed a 3D camera pose for each frame in the sequences. Finally, in support of expanding this or other databases, we offer custom-made labeling software for assisting users who wish to paint precise class-labels for other images and videos. We evaluated the relevance of the database by measuring the performance of an algorithm from each of three distinct domains: multi-class object recognition, pedestrian detection, and label propagation.
Avi, 30 Mb, xVid compressed. (playback tips or get the free Mac/Windows player.
or
Mpg, 11 Mb, mpeg-1 compressed (more compatible, but lower quality)
CamToy Database
(only samples until accepted for publication)
Description: 3030 frames at 30Hz == 1:41 min
Sample Frame Preview Video in MPG1 VideoFile in MXF format*
seq16E5
Description: 6120 frames at 30Hz == 3:24 min
Sample Frame Preview Video in MPG1 VideoFile in MXF format*
seq16E5_15Hz
Description: 202 frames at 30Hz == 0:06 min
Sample Frame Preview Video in MPG1 VideoFile in MXF format*
seq05VD
Description: 5130 frames at 30Hz == 2:51 min
Sample Frame Preview Video in MPG1 VideoFile in MXF format*
Description: 3720 frames at 30Hz == 2:04 min
Sample Frame Preview Video in MPG1 VideoFile in MXF format*
each line containing "AddDecompCameraKey" has a K and R matrix and t vector,
so that P = K * R * [I -t]
Listing of (RGB)-Class assignments (alphabetical) Listing in color-order used by MSRC (with "XX")
| Moving objects Animal Pedestrian Child Rolling cart/luggage/pram Bicyclist Motorcycle/scooter Car (sedan/wagon) SUV / pickup truck Truck / bus Train Misc |
Road Road == drivable surface Shoulder Lane markings drivable Non-Drivable |
Ceiling Sky Tunnel Archway |
Fixed objects Building Wall Tree Vegetation misc. Fence Sidewalk Parking block Column/pole Traffic cone Bridge Sign / symbol Misc text Traffic light Other |
seq16E5
seq16E5_15Hz
Description: 101 frames at 15Hz == 0:06 min
Sample Frame Preview Video in MPG1 Video as zipped PNG's
seq05VD
Description: 101 frames at 1Hz == 1:41 min
Sample Frame Preview Video in MPG1 Video as zipped PNG's
seq01TP
Description: 124 frames at 1Hz == 2:04 min
Sample Frame Preview Video in MPG1 Video as zipped PNG's
the class label being applied, size and type of brush or pre-segmentation used, location of each click point and drag-path, and duration for each stroke.