Mila Simulated Floods

Mila Simulated Floods Dataset is a 1.5 square km virtual world using the Unity3D game engine including urban, suburban and rural areas.

The urban environment contains skyscrapers, large buildings, and roads, as well as objects such as traffic items and vehicles. The rural environment consists of a landscape of grassy hills, forests, and mountains, with sparse houses and other buildings such as a church, and no roads. The rural and urban areas make up for 1 square km of our virtual world. The suburban environment is a residential area of 0.5 square km with many individual houses with front yards.

To gather the simulated dataset, we captured before and after flood pairs from 2000 viewpoints with the following modalities:

• non-flooded RGB image, depth map, segmentation map
• flooded RGB image, binary mask of the flooded area, segmentation map

The camera was placed about 1.5 above ground, and has a field of view of 120 degree, and the resolution of the images is 1200 x 900. At each viewpoint, we took 10 pictures, by varying slightly the position of the camera in order to augment the dataset.