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 and pairs raw LWHSI scenes with sparse LiDAR-projected depth labels, cylindrical camera geometry, and point/image correspondence files.

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.

Dataset Contents

Each released scene contains three IH-Depth artifacts 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.

<raw_lwhsi_stem>_depth.png
<raw_lwhsi_stem>.cyl
<raw_lwhsi_stem>_corresp.txt

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

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

The .cyl files provide per-scene cylindrical camera geometry. The _corresp.txt files provide point/image correspondences used to support the released geometry and labels. More details about these sidecar formats can be found in the IH-Depth GitHub repository.

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:

<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:

scenes_train.csv
scenes_test.csv
scenes_manifest.csv
release_summary.json
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.

The benchmark .cyl and _corresp.txt files should be kept separate from the raw IH root. Raw IH already contains original .cyl and _corresp.txt files for some scenes, so placing benchmark geometry and correspondence files into the same namespace would be ambiguous.

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.