Stereo/LiDAR dataset accompanying "LiDAR-SGM: Semi-Global Matching on LiDAR Point Clouds and their Cost-based Fusion into Stereo Matching"

This dataset provides simulated stereo camera images, LiDAR points clouds, and ground truth disparities to evaluate stereo matching algorithms and methods to fuse stereo and LiDAR. It accompanies the paper "LiDAR-SGM: Semi-Global Matching on LiDAR Point Clouds and their Cost-based Fusion into Stereo Matching". Using the CARLA driving simulator, two synthetic datasets 'ClearSunset' and 'HardRainNoon' were created. They show almost static urban driving scenes in different weather conditions.