CVC-02 consists of three subsets, each one focused on a different task of pedestrian detection: candidate generation, classification and system evaluation. The imagery has been recorded in urban scenarios around Barcelona (Spain), using a Bumblebee color stereo camera with resolution 640×480 pixels and 6mm focal length. The annotated pedestrians are in the range from 0 to 50 m from the camera, which corresponds to a smallest pedestrian of 12×24 pixels. The main features of each subset are the following:
All the images are provided in lossless PNG format, both in color and depth versions, and in their original size and 64×128 pixels rescaled. Regarding the annotations, we label them as obligatory or optional (very young children, significantly occluded or partially out of the image).