We introduce a challenging new dataset for simultaneous object category and viewpoint classification—the Biased-Cars dataset. Our dataset features photo-realistic outdoor scene data with fine control over scene clutter (trees, street furniture, and pedestrians), car colors, object occlusions, diverse backgrounds (building/road textures) and lighting conditions (sky maps). Biased-Cars consists of 15K images of five different car models seen from viewpoints varying between 0-90 degrees of azimuth, and 0-50 degrees of zenith across multiple scales. Our dataset offers complete control over the joint distribution of categories, viewpoints, and other scene parameters, and the use of physically based rendering ensures photo-realism.


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