The York Urban Line Segment Database is a compilation of 102 images (45 indoor, 57 outdoor) of urban environments consisting mostly of scenes from the campus of York University and downtown Toronto, Canada Each image in the database has been hand-labelled to identify the set of line segments satisfying the “Manhattan assumption” (Coughlan & Yuille 2003), i.e., the set of line segments that conform to the The database provides the original images, camera calibration parameters, ground truth line segments, and estimated Manhattan frame relative to the camera for each image.
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