The dataset has been generated using Town 1 and Town 2 of CARLA Simulator. The dataset consists of 50 camera configurations with each town having 25 configurations. The parameters modified for generating the configurations include f ov, x, y, z, pitch, yaw, and roll. Here, f ov is the field of view, (x, y, z) is the translation while (pitch, yaw, and roll) is the rotation between the cameras. The total number of image pairs is 1,23,017, out of which 58,596 belong to Town 1 while 64,421 belong to Town 2, the difference in the number of images is due to the length of the tracks.