ZüriPano: 100 Outdoor Panoramic Depth Maps from Zürich

ZüriPano is a real-world outdoor panoramic depth benchmark captured with a Leica RTC360 LiDAR scanner. It contains 100 equirectangular panoramas across 11 urban locations in Zürich, each paired with a dense metric depth map and a validity mask. The dataset is authored by prs-eth and serves as the outdoor evaluation benchmark for PaGeR.

Use Cases

• Benchmarking panoramic depth estimation models based on the provided dense metric depth maps.
• Training or validating models for 3D scene understanding in urban environments using the paired panoramas and depth data.
• Researching LiDAR data processing and transient-occlusion removal techniques based on the automated double-scan methodology.

Strengths

• Contains 100 high-resolution equirectangular panoramas captured with an 8K LiDAR scanner.
• Each panorama is paired with a dense metric depth map and a validity mask for evaluation.
• Data was captured across 11 distinct urban locations in Zürich, providing environmental variety.

Limitations

• Column-level documentation is absent; field semantics must be inferred after download.
• Row count is unknown, which may limit suitability assessment.
• Last updated 2026-05-27 09:41:56; freshness should be verified.

Provenance

Source

prs-eth

Collection Method

Captured with a Leica RTC360 LiDAR scanner using HDR and automated double-scan for transient-occlusion removal.

Freshness

Last updated 2026-05-27 09:41:56.

Geography

11 urban locations in Zürich, Switzerland.