This dataset contains over 3,100 images with stopsign detections from multiple cameras. The data was collected at UC San Diego campus from a moving vehicle perspective and contains detections across different orientations and scenes that have been utilized to validate our automatic intrinsic calibration approach.  

Han, Y., Liu, Y., Paz, D., and Christensen, H. Auto-calibration Method Using Stop Signs for Urban Autonomous Driving Applications. In International Conference on Robotics and Automation (Xi’ an, China, May 2021). [PDF]