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Datasets:
allenai
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WildDet3D-Stereo4D-Bench

Tasks:
Object Detection
Modalities:
Text
Formats:
json
Size:
< 1K
Tags:
3d-object-detection
3d-bounding-box
stereo
benchmark
Libraries:
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pandas
Polars
License:
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dict
images
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categories
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annotations
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{ "name": "Stereo4D_val", "url": "" }
[{"id":0,"width":512,"height":512,"file_path":"images/-lblrTanBaE_21755088-left_rectified_f0145.jpg"(...TRUNCATED)
[{"id":0,"name":"air_conditioner_unit"},{"id":1,"name":"awning"},{"id":2,"name":"backpack"},{"id":3,(...TRUNCATED)
[{"id":0,"image_id":0,"category_id":45,"category_name":"person","bbox2D_proj":[61.0,242.0,99.0,386.0(...TRUNCATED)

WildDet3D Stereo4D Benchmark

3D object detection benchmark with ground-truth stereo depth from Stereo4D.

Images extracted from Stereo4D videos (1 frame per video from the test set, representing 7% of all Stereo4D videos).

Split Images Annotations
Val 383 2,782

Note: The test set is held out for hidden evaluation and is not publicly available.

Download 

pip install huggingface_hub

# Download everything
huggingface-cli download weikaih/WildDet3D-Stereo4D-Bench --repo-type dataset --local-dir WildDet3D-Stereo4D-Bench

After downloading, extract the packed archives:

cd WildDet3D-Stereo4D-Bench
tar xzf packed/images.tar.gz
tar xzf packed/depth.tar.gz
tar xzf packed/camera_parameters.tar.gz

Directory Structure 

WildDet3D-Stereo4D-Bench/
├── annotations/
│   ├── Stereo4D_val.json
│   ├── Stereo4D_test.json
│   └── Stereo4D_val_class_map.json
├── images/                          # 7,704 images (512x512)
├── depth/                           # 7,704 .npy depth maps (float32, meters)
└── camera_parameters/               # 7,704 .json camera intrinsics

Annotation Format (COCO3D)

Same format as WildDet3D-Data. Each annotation JSON contains:

  • images: image metadata with file_path, K (intrinsics), width, height
  • annotations: 3D bounding boxes with center_cam, dimensions [W,H,L], R_cam, bbox3D_cam, bbox2D_proj, valid3D
  • categories: category list

Depth Format

Each .npy file is a float32 2D array at image resolution (512x512). Values are in meters.

License

CC BY-NC

This dataset is licensed under CC BY-NC. It is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines.
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Collection including allenai/WildDet3D-Stereo4D-Bench