This database addresses the need for experimental data to quantitatively evaluate emerging road detection and photometric invariant algorithms. These images were captured using an on-board camera mounted on the windshield of a moving vehicle. The main challenge is dealing with lighting variations and shadows. The database consists (right now) of two sequences acquired on the same scenario at different daytime and under different weather conditions. The first sequence was acquired at noon of a sunny day. The second was acquired in the morning after raining. The camera is a Bumblebee (stereo pairs will be available soon) working with fixed parameters. Road ground truth has been manually generated.
Here is the link for the dataset: