Road Traversing Knowledge for Quality Classification

This dataset consists of 6.297 labeled images from Brazil's inner country roads captured by a low-cost camera (HP Webcam HD-4110) attached to a moving vehicle. The dataset presents three quality levels classes (good, regular, and bad) for each surface kind: asphalt, paved and unpaved. The only exception is the unpaved surface that does not contain the class "good" due to its poor nature. The number of images by surface-quality class is: asphalt-good: 1978 asphalt-regular: 839 asphalt-bad: 464 paved-good: 1179 paved-regular: 324 paved-bad: 124 unpaved_bad: 593 unpaved-regular: 796 All images were collected during the daytime in good weather conditions. The frames present lighting variations, shadows, and solar glare. Moreover, it is also noticed intra-class variations, such as asphalt surfaces with different color intensities, e.g., older asphalts are usually lighter than the new ones; paved surfaces formed by different patterns, e.g., cobblestone and concrete; and unpaved surfaces, which are naturally uneven. The directory is organized by subdirectories named with the "surface_quality".

本数据集包含6297张标注图像，采集自巴西内陆乡村道路，由安装于移动车辆上的低成本相机（HP Webcam HD-4110）拍摄获取。本数据集为沥青路面、铺装路面与非铺装路面三类路面分别设置了三种质量等级：良好、一般与较差。唯一的例外是非铺装路面，由于其固有特性限制，不存在“良好”这一质量等级。各路面-质量组合对应的图像数量如下：沥青-良好：1978张、沥青-一般：839张、沥青-较差：464张、铺装-良好：1179张、铺装-一般：324张、铺装-较差：124张、非铺装-较差：593张、非铺装-一般：796张。所有图像均采集于日间且天气状况良好。图像帧存在光照变化、阴影及太阳眩光现象。此外，该数据集还存在类内差异：例如沥青路面存在不同的颜色深浅差异，老旧沥青路面通常较新铺设的路面更浅；铺装路面具有多样的铺装模式，如鹅卵石路面与混凝土铺装路面；非铺装路面则天生存在不平整性。数据集通过以“路面_质量”命名的子文件夹进行组织。