Multi-Spectral Stereo Dataset (RGB, NIR, thermal images, LiDAR, GPS/IMU)

Abstract: We introduce the multi-spectral stereo (MS2) outdoor dataset, including stereo RGB, stereo NIR, stereo thermal, stereo LiDAR data, and GPS/IMU information. Our dataset provides rectified and synchronized 184K data pairs taken from city, residential, road, campus, and suburban areas in the morning, daytime, and nighttime under clear-sky, cloudy, and rainy conditions. We designed the dataset to explore various computer vision algorithms from multi-spectral sensor data to achieve high-level performance, reliability, and robustness against challenging environments.

MS2 dataset provides: * 1. (Synchronized) Stereo RGB images / Stereo NIR images / Stereo thermal images * 2. (Synchronized) Stereo LiDAR scans / GPS/IMU navigation data * 3. Projected depth map (in RGB, NIR, thermal image planes) * 4. Odometry data (in RGB, NIR, thermal cameras, and LiDAR coordinates)