DivisonOfficer/Pixel-aligned_RGB-NIR_stereo_dataset

Pixel-aligned RGB-NIR Stereo Imaging and Dataset for Robot Vision

CVPR 2025
Jinnyeong Kim, Seung-Hwan Baek
POSTECH
[arXiv] • [Code] • [Video] • [Dataset on HuggingFace]

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Overview

This repository provides the code and dataset accompanying our CVPR 2025 paper:

"Pixel-aligned RGB-NIR Stereo Imaging and Dataset for Robot Vision"

We propose a novel robotic vision system equipped with two pixel-aligned RGB-NIR stereo cameras and a LiDAR sensor mounted on a mobile robot. Our system captures RGB-NIR stereo video sequences and temporally synchronized LiDAR point clouds, offering a high-quality, aligned multi-spectral dataset under diverse lighting conditions.

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✨ Highlights

• Pixel-aligned RGB-NIR stereo imaging for robust vision under challenging lighting.
• Continuous video sequences recorded using a mobile robot.
• Sparse LiDAR point clouds temporally synchronized with stereo imagery.
• Two proposed methods to utilize RGB-NIR pairs:
  • RGB-NIR Image Fusion (pretrained model-compatible)
  • RGB-NIR Feature Fusion (for fine-tuned stereo depth estimation)

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📦 Dataset

We release a large-scale dataset for training and evaluating robot vision models in realistic environments.

📹 Data Statistics

	#Videos	#Frames
Training	80	90,000
Testing	40	7,000

📁 Per Frame Data Includes:

• Pixel-aligned RGB-NIR stereo images
• Sparse LiDAR point cloud (in camera coordinates)
• Sensor timestamps (synchronized)

🌗 Lighting Scenarios

➡️ Code is availabe on github

Each .tar.gz file follows below structure

frame1
--rgb
-----left_distorted.png (or left.png)
-----right_distorted.png (or right.png)
--nir
-----left_distorted.png (or left.png)
-----right_distorted.png (or right.png)
storage.hdf5

The frame ids are named after their creation date. _distorted.png image need to be undistorted. left.png and right.png are undistorted version.

storage.hdf5 is H5 database. it contains frame group with children of each frame ids.

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📷 Imaging System

Our robotic platform integrates:

• Two RGB-NIR stereo cameras (pixel-aligned RGB and NIR sensors)
• LiDAR sensor
• Omnidirectional mobile base (360° movement)
• High-capacity battery (up to 6 hours)
• NIR LED bar light source for consistent active illumination

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🔧 Methods

RGB-NIR synthetic data augmentation

See visualize/synth_aug_render.ipynb for method of synthetic data augmentation to build RGB-NIR training dataset.

RGB-NIR Image Fusion

We introduce an RGB-NIR image-level fusion technique for 3-channel vision tasks. This approach allows existing RGB-pretrained models to benefit from NIR information without additional fine-tuning.

Applicable to:

• Stereo Depth Estimation
• Semantic Segmentation
• Object Detection

See net/image_fusion.py for pytorch implementation.

RGB-NIR Feature Fusion (Stereo Depth)

We extend RAFT-Stereo with a novel feature-level fusion strategy, alternating between fused and NIR correlation volumes during iterative disparity estimation using GRUs.

See net/feature_fusion.py of implementation with RAFT-Stereo as baseline Our setup reflects the RGB with active illumination scenario:

• NIR provides robust depth cues
• RGB complements NIR with texture under normal lighting

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📊 Experimental Results

Our experiments demonstrate that pixel-aligned RGB-NIR inputs:

• Improve stereo depth accuracy under low-light and high-contrast conditions
• Enable pretrained RGB models to generalize better
• Enhance robustness across lighting domains

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📄 Citation

If you use this dataset or code, please cite our work:

@article{kim2025pixelnir,
  author    = {Jinnyeong Kim and Seung-Hwan Baek},
  title     = {Pixel-aligned RGB-NIR Stereo Imaging and Dataset for Robot Vision},
  conference = {The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year      = {2025},
  doi       = {10.48550/arXiv.2411.18025},
  url       = {https://arxiv.org/abs/2411.18025},
}