High-res multi-view: Training data  |  Test data Low-res many-view: Training data  |  Test data Low-res two-view: Training data  |  Test data


High-res multi-view


Training data

Download all undistorted jpg images (5.5 GB)
Download all distorted jpg images (4.7 GB)
Download all distorted raw images (12.1 GB)
Download all ground truth (for evaluation) (1.8 GB)
Download all occlusion files (1.2 GB)

courtyard - 38 images outdoors
courtyard_dslr_undistorted.7z (0.5 GB)
courtyard_dslr_jpg.7z (0.4 GB)
courtyard_dslr_raw.7z (1.0 GB)
Ground truth:
courtyard_scan_raw.7z (0.3 GB)
courtyard_scan_clean.7z (0.3 GB)
courtyard_dslr_scan_eval.7z (0.2 GB)
courtyard_dslr_occlusion.7z (0.1 GB)
delivery area - 44 images indoors
delivery_area_dslr_undistorted.7z (0.5 GB)
delivery_area_dslr_jpg.7z (0.4 GB)
delivery_area_dslr_raw.7z (1.1 GB)
Ground truth:
delivery_area_scan_raw.7z (0.4 GB)
delivery_area_scan_clean.7z (0.4 GB)
delivery_area_dslr_scan_eval.7z (0.1 GB)
delivery_area_dslr_occlusion.7z (0.1 GB)
electro - 45 images outdoors
electro_dslr_undistorted.7z (0.5 GB)
electro_dslr_jpg.7z (0.4 GB)
electro_dslr_raw.7z (1.2 GB)
Ground truth:
electro_scan_raw.7z (0.6 GB)
electro_scan_clean.7z (0.5 GB)
electro_dslr_scan_eval.7z (0.2 GB)
electro_dslr_occlusion.7z (0.1 GB)
facade - 76 images outdoors
facade_dslr_undistorted.7z (1.2 GB)
facade_dslr_jpg.7z (1.1 GB)
facade_dslr_raw.7z (2.2 GB)
Ground truth:
facade_scan_raw.7z (0.4 GB)
facade_scan_clean.7z (0.4 GB)
facade_dslr_scan_eval.7z (0.2 GB)
facade_dslr_occlusion.7z (0.1 GB)
kicker - 31 images indoors
kicker_dslr_undistorted.7z (0.4 GB)
kicker_dslr_jpg.7z (0.4 GB)
kicker_dslr_raw.7z (0.9 GB)
Ground truth:
kicker_scan_raw.7z (0.3 GB)
kicker_scan_clean.7z (0.3 GB)
kicker_dslr_scan_eval.7z (0.2 GB)
kicker_dslr_occlusion.7z (0.1 GB)
meadow - 15 images outdoors
meadow_dslr_undistorted.7z (0.2 GB)
meadow_dslr_jpg.7z (0.2 GB)
meadow_dslr_raw.7z (0.5 GB)
Ground truth:
meadow_scan_raw.7z (0.4 GB)
meadow_scan_clean.7z (0.3 GB)
meadow_dslr_scan_eval.7z (0.1 GB)
meadow_dslr_occlusion.7z (0.1 GB)
office - 26 images indoors
office_dslr_undistorted.7z (0.3 GB)
office_dslr_jpg.7z (0.2 GB)
office_dslr_raw.7z (0.7 GB)
Ground truth:
office_scan_raw.7z (0.3 GB)
office_scan_clean.7z (0.3 GB)
office_dslr_scan_eval.7z (0.1 GB)
office_dslr_occlusion.7z (0.3 GB)
pipes - 14 images indoors
pipes_dslr_undistorted.7z (0.1 GB)
pipes_dslr_jpg.7z (0.1 GB)
pipes_dslr_raw.7z (0.4 GB)
Ground truth:
pipes_scan_raw.7z (0.2 GB)
pipes_scan_clean.7z (0.2 GB)
pipes_dslr_scan_eval.7z (0.1 GB)
pipes_dslr_occlusion.7z (0.1 GB)
playground - 38 images outdoors
playground_dslr_undistorted.7z (0.5 GB)
playground_dslr_jpg.7z (0.5 GB)
playground_dslr_raw.7z (1.1 GB)
Ground truth:
playground_scan_raw.7z (0.3 GB)
playground_scan_clean.7z (0.2 GB)
playground_dslr_scan_eval.7z (0.1 GB)
playground_dslr_occlusion.7z (0.1 GB)
relief - 31 images indoors
relief_dslr_undistorted.7z (0.3 GB)
relief_dslr_jpg.7z (0.3 GB)
relief_dslr_raw.7z (0.8 GB)
Ground truth:
relief_scan_raw.7z (0.4 GB)
relief_scan_clean.7z (0.4 GB)
relief_dslr_scan_eval.7z (0.2 GB)
relief_dslr_occlusion.7z (0.1 GB)
relief 2 - 31 images indoors
relief_2_dslr_undistorted.7z (0.3 GB)
relief_2_dslr_jpg.7z (0.3 GB)
relief_2_dslr_raw.7z (0.8 GB)
Ground truth:
relief_2_scan_raw.7z (0.4 GB)
relief_2_scan_clean.7z (0.4 GB)
relief_2_dslr_scan_eval.7z (0.2 GB)
relief_2_dslr_occlusion.7z (0.1 GB)
terrace - 23 images outdoors
terrace_dslr_undistorted.7z (0.3 GB)
terrace_dslr_jpg.7z (0.2 GB)
terrace_dslr_raw.7z (0.6 GB)
Ground truth:
terrace_scan_raw.7z (0.3 GB)
terrace_scan_clean.7z (0.3 GB)
terrace_dslr_scan_eval.7z (0.1 GB)
terrace_dslr_occlusion.7z (0.1 GB)
terrains - 42 images indoors
terrains_dslr_undistorted.7z (0.4 GB)
terrains_dslr_jpg.7z (0.3 GB)
terrains_dslr_raw.7z (1.1 GB)
Ground truth:
terrains_scan_raw.7z (0.3 GB)
terrains_scan_clean.7z (0.3 GB)
terrains_dslr_scan_eval.7z (0.1 GB)
terrains_dslr_occlusion.7z (0.1 GB)

Test data

Download all undistorted jpg images (4.5 GB)
Download all distorted jpg images (3.6 GB)
Download all distorted raw images (11.3 GB)

botanical garden - 30 images indoors
botanical_garden_dslr_undistorted.7z (0.4 GB)
botanical_garden_dslr_jpg.7z (0.4 GB)
botanical_garden_dslr_raw.7z (0.9 GB)
boulders - 26 images outdoors
boulders_dslr_undistorted.7z (0.3 GB)
boulders_dslr_jpg.7z (0.3 GB)
boulders_dslr_raw.7z (0.7 GB)
bridge - 110 images indoors
bridge_dslr_undistorted.7z (1.2 GB)
bridge_dslr_jpg.7z (1.0 GB)
bridge_dslr_raw.7z (2.7 GB)
door - 7 images indoors
door_dslr_undistorted.7z (0.1 GB)
door_dslr_jpg.7z (0.1 GB)
door_dslr_raw.7z (0.2 GB)
exhibition hall - 68 images indoors
exhibition_hall_dslr_undistorted.7z (0.7 GB)
exhibition_hall_dslr_jpg.7z (0.5 GB)
exhibition_hall_dslr_raw.7z (1.7 GB)
lecture room - 23 images indoors
lecture_room_dslr_undistorted.7z (0.2 GB)
lecture_room_dslr_jpg.7z (0.2 GB)
lecture_room_dslr_raw.7z (0.6 GB)
living room - 65 images indoors
living_room_dslr_undistorted.7z (0.7 GB)
living_room_dslr_jpg.7z (0.5 GB)
living_room_dslr_raw.7z (1.7 GB)
lounge - 10 images indoors
lounge_dslr_undistorted.7z (0.1 GB)
lounge_dslr_jpg.7z (0.1 GB)
lounge_dslr_raw.7z (0.2 GB)
observatory - 27 images outdoors
observatory_dslr_undistorted.7z (0.3 GB)
observatory_dslr_jpg.7z (0.2 GB)
observatory_dslr_raw.7z (0.7 GB)
old computer - 54 images indoors
old_computer_dslr_undistorted.7z (0.5 GB)
old_computer_dslr_jpg.7z (0.3 GB)
old_computer_dslr_raw.7z (1.3 GB)
statue - 11 images indoors
statue_dslr_undistorted.7z (0.1 GB)
statue_dslr_jpg.7z (0.1 GB)
statue_dslr_raw.7z (0.3 GB)
terrace 2 - 13 images outdoors
terrace_2_dslr_undistorted.7z (0.1 GB)
terrace_2_dslr_jpg.7z (0.1 GB)
terrace_2_dslr_raw.7z (0.3 GB)

Low-res many-view


Training data

Download all undistorted images (1.4 GB)
Download all distorted images (1.7 GB)
Download all ground truth (for evaluation) (0.3 GB)
Download all occlusion files (0.4 GB)

delivery area - 4*237 images indoors
delivery_area_rig_undistorted.7z (0.3 GB)
delivery_area_rig.7z (0.3 GB)
Ground truth:
delivery_area_scan_raw.7z (0.4 GB)
delivery_area_scan_clean.7z (0.4 GB)
delivery_area_rig_scan_eval.7z (0.1 GB)
delivery_area_rig_occlusion.7z (0.1 GB)
delivery_area_rig_stereo_pairs_gt.7z (0.9 GB)
electro - 4*300 images outdoors
electro_rig_undistorted.7z (0.3 GB)
electro_rig.7z (0.3 GB)
Ground truth:
electro_scan_raw.7z (0.6 GB)
electro_scan_clean.7z (0.5 GB)
electro_rig_scan_eval.7z (0.1 GB)
electro_rig_occlusion.7z (0.1 GB)
electro_rig_stereo_pairs_gt.7z (0.9 GB)
forest - 4*257 images outdoors
forest_rig_undistorted.7z (0.4 GB)
forest_rig.7z (0.5 GB)
Ground truth:
forest_scan_raw.7z (0.7 GB)
forest_scan_clean.7z (0.4 GB)
forest_rig_scan_eval.7z (0.1 GB)
forest_rig_occlusion.7z (0.2 GB)
forest_rig_stereo_pairs_gt.7z (0.8 GB)
playground - 4*240 images outdoors
playground_rig_undistorted.7z (0.3 GB)
playground_rig.7z (0.4 GB)
Ground truth:
playground_scan_raw.7z (0.3 GB)
playground_scan_clean.7z (0.2 GB)
playground_rig_scan_eval.7z (0.1 GB)
playground_rig_occlusion.7z (0.1 GB)
playground_rig_stereo_pairs_gt.7z (0.7 GB)
terrains - 4*165 images indoors
terrains_rig_undistorted.7z (0.2 GB)
terrains_rig.7z (0.2 GB)
Ground truth:
terrains_scan_raw.7z (0.3 GB)
terrains_scan_clean.7z (0.3 GB)
terrains_rig_scan_eval.7z (0.1 GB)
terrains_rig_occlusion.7z (0.1 GB)
terrains_rig_stereo_pairs_gt.7z (0.6 GB)

Test data

Download all undistorted images (1.9 GB)
Download all distorted images (2.1 GB)

lakeside - 4*266 images outdoors
lakeside_rig_undistorted.7z (0.4 GB)
lakeside_rig.7z (0.4 GB)
lakeside_rig_imu.7z (5 MB)
sand box - 4*278 images outdoors
sand_box_rig_undistorted.7z (0.4 GB)
sand_box_rig.7z (0.5 GB)
sand_box_rig_imu.7z (4 MB)
storage room - 4*199 images indoors
storage_room_rig_undistorted.7z (0.2 GB)
storage_room_rig.7z (0.3 GB)
storage_room_rig_imu.7z (6 MB)
storage room 2 - 4*208 images indoors
storage_room_2_rig_undistorted.7z (0.2 GB)
storage_room_2_rig.7z (0.2 GB)
storage_room_2_rig_imu.7z (6 MB)
tunnel - 4*352 images outdoors
tunnel_rig_undistorted.7z (0.5 GB)
tunnel_rig.7z (0.6 GB)
tunnel_rig_imu.7z (6 MB)

Low-res two-view


Training data

Download all images (13.6 MB)
Download all ground truth (14.2 MB)

delivery_area - 1
delivery_area - 2
delivery_area - 3
electro - 1
electro - 2
electro - 3
facade - 1
forest - 1
forest - 2
playground - 1
playground - 2
playground - 3
terrace - 1
terrace - 2
terrains - 1
terrains - 2

Test data

Download all images (11.8 MB)

lakeside - 1
sand box - 1
storage room - 1
storage room - 2
storage room - 3
storage room 2 - 1
storage room 2 - 2
tunnel - 1
tunnel - 2
tunnel - 3