THAB Equirectangular Dataset

This dataset contains 4,750 paired equirectangular RGB and depth (range) images collected in Aschaffenburg, Germany using a fully synchronized sensor rig. RGB images were captured using a Teledyne FLIR Ladybug 5+ omnidirectional camera. Depth images were recorded using an Ouster OS2-128 Rev 7 LiDAR and projected into the same equirectangular format. The dataset is organized into 9 sequences, each representing a distinct collection run in various parts of Aschaffenburg. Key Features High-resolution 360° equirectangular color images. Corresponding equirectangular depth maps aligned with the RGB images. Time-synchronized multimodal data from camera and LiDAR sensors. Diverse urban and suburban environments. Privacy compliant: All faces and license plates in RGB images have been anonymized. Linked to SemanticTHAB: This dataset is temporally and spatially aligned with the SemanticTHAB dataset containing semantically labeled point clouds. Python mapping script provided to project semantic labels from SemanticTHAB’s point clouds onto the RGB and depth images. Potential Applications 3D scene reconstruction Sensor fusion research Panoramic depth estimation Autonomous driving and robotics Semantic scene understanding本数据集包含4750组成对的等距柱状投影（equirectangular）RGB与深度（距离）图像，采集于德国阿沙芬堡，采用完全同步的传感器套件完成采集。 RGB图像通过Teledyne FLIR Ladybug 5+全向相机采集。 深度图像由Ouster OS2-128 Rev 7激光雷达（LiDAR）录制，并投影至相同的等距柱状投影格式。 本数据集共分为9个序列，每个序列对应阿沙芬堡不同区域的一次独立采集任务。 核心特性 1. 高分辨率360°等距柱状彩色图像。 2. 与RGB图像对齐的匹配等距柱状深度图。 3. 相机与激光雷达传感器的时间同步多模态数据。 4. 覆盖多样化的城市与郊区环境。 5. 隐私合规：RGB图像中的所有人脸与车牌均已完成匿名化处理。 6. 与SemanticTHAB数据集关联：本数据集在时间与空间维度上与包含语义标注点云的SemanticTHAB数据集对齐。 7. 提供Python映射脚本，可将SemanticTHAB点云中的语义标签投影至RGB与深度图像上。 潜在应用场景 1. 三维场景重建 2. 传感器融合研究 3. 全景深度估计 4. 自动驾驶与机器人技术 5. 语义场景理解