{ "citation": "@inproceedings{Silberman:ECCV12,\n author = {Nathan Silberman, Derek Hoiem, Pushmeet Kohli and Rob Fergus},\n title = {Indoor Segmentation and Support Inference from RGBD Images},\n booktitle = {ECCV},\n year = {2012}\n}\n@inproceedings{icra_2019_fastdepth,\n author = {Wofk, Diana and Ma, Fangchang and Yang, Tien-Ju and Karaman, Sertac and Sze, Vivienne},\n title = {FastDepth: Fast Monocular Depth Estimation on Embedded Systems},\n booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},\n year = {2019}\n}", "description": "The NYU-Depth V2 data set is comprised of video sequences from a variety of\nindoor scenes as recorded by both the RGB and Depth cameras from the\nMicrosoft Kinect.", "downloadSize": "34276493134", "location": { "urls": [ "https://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html" ] }, "name": "nyu_depth_v2", "schema": { "feature": [ { "name": "image", "presence": { "minCount": "1", "minFraction": 1.0 }, "shape": { "dim": [ { "size": "480" }, { "size": "640" }, { "size": "3" } ] }, "type": "BYTES" }, { "name": "depth", "presence": { "minCount": "1", "minFraction": 1.0 }, "shape": { "dim": [ { "size": "480" }, { "size": "640" } ] }, "type": "FLOAT" } ] }, "splits": [ { "name": "train", "numBytes": "78446931436", "shardLengths": [ "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46", "47", "46" ], "statistics": { "features": [ { "path": { "step": [ "image" ] }, "stringStats": { "avgLength": 419748.94, "commonStats": { "avgNumValues": 1.0, "maxNumValues": "1", "minNumValues": "1", "numNonMissing": "47584", "numValuesHistogram": { "buckets": [ { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 4758.4 } ], "type": "QUANTILES" }, "totNumValues": "47584" }, "rankHistogram": { "buckets": [ { "label": "__BYTES_VALUE__", "sampleCount": 71.0 }, { "highRank": "1", "label": "__BYTES_VALUE__", "lowRank": "1", "sampleCount": 4.0 }, { "highRank": "2", "label": "__BYTES_VALUE__", "lowRank": "2", "sampleCount": 2.0 }, { "highRank": "3", "label": "__BYTES_VALUE__", "lowRank": "3", "sampleCount": 2.0 }, { "highRank": "4", "label": "__BYTES_VALUE__", "lowRank": "4", "sampleCount": 2.0 }, { "highRank": "5", "label": "__BYTES_VALUE__", "lowRank": "5", "sampleCount": 2.0 }, { "highRank": "6", "label": "__BYTES_VALUE__", "lowRank": "6", "sampleCount": 2.0 }, { "highRank": "7", "label": "__BYTES_VALUE__", "lowRank": "7", "sampleCount": 2.0 }, { "highRank": "8", "label": "__BYTES_VALUE__", "lowRank": "8", "sampleCount": 2.0 }, { "highRank": "9", "label": "__BYTES_VALUE__", "lowRank": "9", "sampleCount": 2.0 } ] }, "topValues": [ { "frequency": 71.0, "value": "__BYTES_VALUE__" }, { "frequency": 4.0, "value": "__BYTES_VALUE__" }, { "frequency": 2.0, "value": "__BYTES_VALUE__" }, { "frequency": 2.0, "value": "__BYTES_VALUE__" }, { "frequency": 2.0, "value": "__BYTES_VALUE__" }, { "frequency": 2.0, "value": "__BYTES_VALUE__" }, { "frequency": 2.0, "value": "__BYTES_VALUE__" }, { "frequency": 2.0, "value": "__BYTES_VALUE__" }, { "frequency": 2.0, "value": "__BYTES_VALUE__" }, { "frequency": 2.0, "value": "__BYTES_VALUE__" } ], "unique": "47395" }, "type": "STRING" }, { "numStats": { "commonStats": { "avgNumValues": 307200.0, "maxNumValues": "307200", "minNumValues": "307200", "numNonMissing": "47584", "numValuesHistogram": { "buckets": [ { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 4758.4 } ], "type": "QUANTILES" }, "totNumValues": "14617804800" }, "histograms": [ { "buckets": [ { "highValue": 1.0, "sampleCount": 1084641116.16 }, { "highValue": 2.0, "lowValue": 1.0, "sampleCount": 3989361349.9733334 }, { "highValue": 3.0, "lowValue": 2.0, "sampleCount": 4461678865.066667 }, { "highValue": 4.0, "lowValue": 3.0, "sampleCount": 2635102945.2799997 }, { "highValue": 5.0, "lowValue": 4.0, "sampleCount": 1319013253.1200001 }, { "highValue": 6.0, "lowValue": 5.0, "sampleCount": 596284620.8000001 }, { "highValue": 7.0, "lowValue": 6.0, "sampleCount": 300544773.6888889 }, { "highValue": 8.0, "lowValue": 7.0, "sampleCount": 128853242.31111112 }, { "highValue": 9.0, "lowValue": 8.0, "sampleCount": 63587450.88 }, { "highValue": 10.0, "lowValue": 9.0, "sampleCount": 38737182.720000006 } ] }, { "buckets": [ { "highValue": 1.1474609375, "sampleCount": 1461780480.0 }, { "highValue": 1.541015625, "lowValue": 1.1474609375, "sampleCount": 1461780480.0 }, { "highValue": 1.8642578125, "lowValue": 1.541015625, "sampleCount": 1461780480.0 }, { "highValue": 2.1484375, "lowValue": 1.8642578125, "sampleCount": 1461780480.0 }, { "highValue": 2.447265625, "lowValue": 2.1484375, "sampleCount": 1461780480.0 }, { "highValue": 2.791015625, "lowValue": 2.447265625, "sampleCount": 1461780480.0 }, { "highValue": 3.20703125, "lowValue": 2.791015625, "sampleCount": 1461780480.0 }, { "highValue": 3.759765625, "lowValue": 3.20703125, "sampleCount": 1461780480.0 }, { "highValue": 4.66796875, "lowValue": 3.759765625, "sampleCount": 1461780480.0 }, { "highValue": 10.0, "lowValue": 4.66796875, "sampleCount": 1461780480.0 } ], "type": "QUANTILES" } ], "max": 10.0, "mean": 2.7065092916505855, "median": 2.447265625, "numZeros": "657025170", "stdDev": 1.517013265700919 }, "path": { "step": [ "depth" ] }, "type": "FLOAT" } ], "numExamples": "47584" } }, { "name": "validation", "numBytes": "1041365846", "shardLengths": [ "82", "82", "81", "82", "82", "81", "82", "82" ], "statistics": { "features": [ { "path": { "step": [ "image" ] }, "stringStats": { "avgLength": 363452.53, "commonStats": { "avgNumValues": 1.0, "maxNumValues": "1", "minNumValues": "1", "numNonMissing": "654", "numValuesHistogram": { "buckets": [ { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 }, { "highValue": 1.0, "lowValue": 1.0, "sampleCount": 65.4 } ], "type": "QUANTILES" }, "totNumValues": "654" }, "rankHistogram": { "buckets": [ { "label": "__BYTES_VALUE__", "sampleCount": 1.0 }, { "highRank": "1", "label": "__BYTES_VALUE__", "lowRank": "1", "sampleCount": 1.0 }, { "highRank": "2", "label": "__BYTES_VALUE__", "lowRank": "2", "sampleCount": 1.0 }, { "highRank": "3", "label": "__BYTES_VALUE__", "lowRank": "3", "sampleCount": 1.0 }, { "highRank": "4", "label": "__BYTES_VALUE__", "lowRank": "4", "sampleCount": 1.0 }, { "highRank": "5", "label": "__BYTES_VALUE__", "lowRank": "5", "sampleCount": 1.0 }, { "highRank": "6", "label": "__BYTES_VALUE__", "lowRank": "6", "sampleCount": 1.0 }, { "highRank": "7", "label": "__BYTES_VALUE__", "lowRank": "7", "sampleCount": 1.0 }, { "highRank": "8", "label": "__BYTES_VALUE__", "lowRank": "8", "sampleCount": 1.0 }, { "highRank": "9", "label": "__BYTES_VALUE__", "lowRank": "9", "sampleCount": 1.0 } ] }, "topValues": [ { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" }, { "frequency": 1.0, "value": "__BYTES_VALUE__" } ], "unique": "654" }, "type": "STRING" }, { "numStats": { "commonStats": { "avgNumValues": 307200.0, "maxNumValues": "307200", "minNumValues": "307200", "numNonMissing": "654", "numValuesHistogram": { "buckets": [ { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 }, { "highValue": 307200.0, "lowValue": 307200.0, "sampleCount": 65.4 } ], "type": "QUANTILES" }, "totNumValues": "200908800" }, "histograms": [ { "buckets": [ { "highValue": 1.640478515625, "lowValue": 0.71337890625, "sampleCount": 38014456.31999999 }, { "highValue": 2.567578125, "lowValue": 1.640478515625, "sampleCount": 68775267.84 }, { "highValue": 3.494677734375, "lowValue": 2.567578125, "sampleCount": 50649945.60000001 }, { "highValue": 4.42177734375, "lowValue": 3.494677734375, "sampleCount": 22572103.679999977 }, { "highValue": 5.348876953125, "lowValue": 4.42177734375, "sampleCount": 11035229.760000007 }, { "highValue": 6.2759765625, "lowValue": 5.348876953125, "sampleCount": 5034962.880000001 }, { "highValue": 7.203076171875, "lowValue": 6.2759765625, "sampleCount": 2423276.373333332 }, { "highValue": 8.13017578125, "lowValue": 7.203076171875, "sampleCount": 1225655.8431372545 }, { "highValue": 9.057275390625, "lowValue": 8.13017578125, "sampleCount": 651902.583529412 }, { "highValue": 9.984375, "lowValue": 9.057275390625, "sampleCount": 525999.1200000001 } ] }, { "buckets": [ { "highValue": 1.3369140625, "lowValue": 0.71337890625, "sampleCount": 20090880.0 }, { "highValue": 1.6748046875, "lowValue": 1.3369140625, "sampleCount": 20090880.0 }, { "highValue": 1.947265625, "lowValue": 1.6748046875, "sampleCount": 20090880.0 }, { "highValue": 2.197265625, "lowValue": 1.947265625, "sampleCount": 20090880.0 }, { "highValue": 2.47265625, "lowValue": 2.197265625, "sampleCount": 20090880.0 }, { "highValue": 2.77734375, "lowValue": 2.47265625, "sampleCount": 20090880.0 }, { "highValue": 3.119140625, "lowValue": 2.77734375, "sampleCount": 20090880.0 }, { "highValue": 3.576171875, "lowValue": 3.119140625, "sampleCount": 20090880.0 }, { "highValue": 4.4765625, "lowValue": 3.576171875, "sampleCount": 20090880.0 }, { "highValue": 9.984375, "lowValue": 4.4765625, "sampleCount": 20090880.0 } ], "type": "QUANTILES" } ], "max": 9.984375, "mean": 2.7402305883758538, "median": 2.47265625, "min": 0.71337890625, "stdDev": 1.3450109541715614 }, "path": { "step": [ "depth" ] }, "type": "FLOAT" } ], "numExamples": "654" } } ], "supervisedKeys": { "input": "image", "output": "depth" }, "version": "0.0.1" }