StereoCarla is a high-fidelity synthetic stereo dataset specifically designed for autonomous driving scenarios. Built on the CARLA simulator, StereoCarla incorporates a wide range of camera configurations—including diverse baselines, viewpoints, and sensor placements—as well as varied environmental conditions such as lighting changes, weather effects, and road geometries.
The dataset can be downloaded at the following website: https://xiandaguo.net/StereoCarla/
The directory structure should be:
StereoCarla
└───normal
└───town01
└───left
└───baseline_010
└───rgb
└───depth
└───pose
'''
└───town10
└───pitch00
└───pitch30
└───roll05
└───roll15
└───roll30
└───weather
Optionally, you can write your own txt file and use all the parts of the dataset.
@article{guo2025stereocarla,
title={StereoCarla: A High-Fidelity Driving Dataset for Generalizable Stereo},
author={Xianda Guo and Chenming Zhang and Ruilin Wang and Youmin Zhang and Wenzhao Zheng and Matteo Poggi and Hao Zhao and Qin Zou and Long Chen},
year={2025},
journal={arXiv preprint arXiv:2509.12683}
}