README.md

---
pretty_name: IH-Depth
license: cc-by-4.0
task_categories:
  - depth-estimation
size_categories:
  - n<1K
configs:
  - config_name: default
    data_files:
      - split: train
        path: scenes_train.csv
      - split: test
        path: scenes_test.csv
---

# Dataset Card for IH-Depth

IH-Depth is a benchmark for metric depth estimation from long-wave hyperspectral imagery (LWHSI) in off-road scenes. The benchmark is derived from the [Invisible Headlights (IH) dataset](https://registry.opendata.aws/darpa-invisible-headlights/) and pairs raw LWHSI scenes with sparse LiDAR-projected depth labels.

IH-Depth contains 51 released scenes split into 41 training scenes and 10 test scenes. Download the dataset into the same directory as the raw IH dataset so each released depth PNG lands beside the matching raw `.hdr` and `.bsq` LWHSI files.

More details on usage, evaluation, and reference baselines can be found in the [IH-Depth GitHub repository](https://github.com/cvail-research/ih-depth-dataset).

## Dataset Contents

Each released scene contains one IH-Depth artifact named with the same stem as the corresponding raw LWHSI file. Here, `<raw_lwhsi_stem>` means the raw LWHSI filename without the `.hdr` or `.bsq` extension. For example, if the raw files are `IHTest_202009_Path3_Step6_LWHSI1__DistStA.hdr` and `IHTest_202009_Path3_Step6_LWHSI1__DistStA.bsq`, then `<raw_lwhsi_stem>` is `IHTest_202009_Path3_Step6_LWHSI1__DistStA`.

```text
<raw_lwhsi_stem>_depth.png
```

The depth maps are sparse metric labels projected from LiDAR into the LWHSI image. Depth PNGs follow a KITTI-style 16-bit encoding:

```text
dtype: uint16
stored_value = round(128 * depth_m)
0 = invalid / unlabeled
depth_m = stored_value / 128
```

## Dataset Structure

Only the depth PNGs are meant to be stored in the raw IH tree beside the matching raw files. A released depth-labeled scene has the form:

```text
<RAW_IH_ROOT>/
  <collection>/
    <PathXX_DistStA>/
      <PathXX_StepYY...>/
        <raw_lwhsi_stem>.hdr
        <raw_lwhsi_stem>.bsq
        <raw_lwhsi_stem>_depth.png
```

The release root contains:

```text
scenes_train.csv
scenes_test.csv
scenes_manifest.csv
README.md
```

The scene CSV files define the IH-Depth benchmark splits and artifact paths. These split files are part of IH-Depth and are not part of the raw IH dataset.

## Data Stats

To characterize scene diversity, RGB visualizations of the released scenes were assigned to six primary scene categories and manually reviewed for consistency:

| Scene category | Share | Scenes |
|---|---:|---:|
| Open fields | 33.3% | 17 |
| Sandy scrub | 31.4% | 16 |
| Utility corridors | 13.7% | 7 |
| Built industrial areas | 13.7% | 7 |
| Forests | 5.9% | 3 |
| Water | 2.0% | 1 |

This diversity reflects the off-road and mixed-terrain nature of IH-Depth: the benchmark is not limited to a single road layout, vegetation pattern, or background structure, but instead evaluates metric depth estimation across varied LWHSI conditions.

## License

IH-Depth is released under the CC BY 4.0 license. The raw Invisible Headlights dataset is distributed separately under its own terms.