NPO

The dataset is recorded with an on-vehicle ZED stereo camera in both urban and rural environments

The dataset contains various lighting conditions, such as normal lights, large-area shadows, dim lights, and sun glare. There are also different weather conditions, such as sunny, cloudy, and snowy.

Negative obstacles (i.e., potholes and cracks) and positive obstacles (i.e., pedestrians, cars, and motorcycles) in 5, 000 images are labelled