7129 stereo image pairs not containing pedestrians in the
training set, from which negative samples can be extracted
(positive samples remain unchanged
images of the second camera for the test set (a sequence
with more than 21.790 images with 56.492 pedestrian
fully visible or partially occluded, captured from a
during a 27 min drive through urban traffic, at VGA
resolution (640x480, uncompressed)).
vehicle speed and steering angle measurements for the test
set, with the yaw rate derived.
specifies an evaluation setting (3D localization criterion,
known ground plane, and sensor coverage area provides ROIs).
specifies performance metrics both at the frame- and
trajectory-level (the latter also allows benchmarking of
provides the baseline performance of a state-of-the-art
method (HOG/linSVM) on the specified training and test set.
is “open”: both training and test set are public and
(freely) available for non-commercial purposes, see below..