Multi-city street-sidewalk imagery from pedestrian mobile cameras

We present TerraFirma, a multi-city dataset which captures street
and sidewalk imagery from the pedestrians' perspective. Motivated by
challenges in the realm of pedestrian safety, we present a diverse and
extensive dataset that provides a foundation for the design and validation
of pedestrian safety systems that rely on street-sidewalk imagery. The
data was collected by 9 volunteers in 4 metropolitan cities across the
world. Volunteers carried mobile cameras or smartphones in a texting
position, such that the rear camera was directed to the ground in front of
them. TerraFirma classifies images by the material used for
street/sidewalk construction in each city.