RailEnV-PASMVS: a dataset for multi-view stereopsis training and reconstruction applications

A Perfectly Accurate, Synthetic dataset featuring a virtual railway EnVironment for Multi-View Stereopsis (RailEnV-PASMVS) is presented, consisting of 40 scenes and 79,800 renderings together with ground truth depth maps, extrinsic and intrinsic camera parameters and binary segmentation masks of all the track components and surrounding environment. Every scene is rendered from a set of 3 cameras, each positioned relative to the track for optimal 3D reconstruction of the rail profile. The set of cameras is translated across the 100-meter length of tangent (straight) track to yield a total of 1,995 camera views. Photorealistic lighting of each of the 40 scenes is achieved with the implementation of high-definition, high dynamic range (HDR) environmental textures. Additional variation is introduced in the form of camera focal lengths, random noise for the camera location and rotation parameters and shader modifications of the rail profile. Representative track geometry data is used to generate random and unique vertical alignment data for the rail profile for every scene. This primary, synthetic dataset is augmented by a smaller image collection consisting of 124 manually annotated photographs for improved segmentation performance. The specular rail profile represents the most challenging component for MVS reconstruction algorithms, pipelines and neural network architectures, increasing the ambiguity and complexity of the data distribution. RailEnV-PASMVS represents an application specific dataset for railway engineering, against the backdrop of existing datasets available in the field of computer vision, providing the precision required for novel research applications in the field of transportation engineering.

File descriptions:
+ RailEnV-PASMVS.blend (227 Mb) - Blender file (developed using Blender version 2.8.1) used to generate the dataset. The Blender file packs only one of the HDR environmental textures to use as an example, along with all the other asset textures.
+ RailEnV-PASMVS_sample.png (28 Mb) - A visual collage of 30 scenes, illustrating the variability introduced by using different models, illumination, material properties and camera focal lengths.
+ geometry.zip (2 Mb) - Geometry CSV files used for all the scenes. The Bezier curve defines the geometry of the rail profile (10 mm interval).
+ sampleset_19.zip (2.5 Gb) - A single RailEnV-PASMVSD scene sample for easy viewing and evaluations. For the full dataset please use the link provided below.
+ PhysicalDataset.zip (1.8 Gb) - A smaller, secondary dataset of 124 manullay annotated photographs of railway environments; only the railway profiles are annotated.

GitHub page to access the full RailEnV-PASMVS dataset (hosted on Google Drive): https://github.com/andrebroekman/RailEnV-PASMVS