Table 2.
Image characteristics of the sub-datasets comprising the GWHD dataset. All cameras looked vertically downward.
| Sub-dataset name | Vector | Camera | Focal length (mm) | Field of view (°)∗ | Shooting mode | Image size (pixels) | Distance to ground (m) | GSD (mm/px) |
|---|---|---|---|---|---|---|---|---|
| UTokyo_1 | Cart | Canon PowerShot G9 X mark II | 10 | 38.15 | Automatic | 5472 × 3648 | 1.8 | 0.43 |
| UTokyo_2 | Handheld | Olympus μ850 & Sony DSC-HX90V | 7/4 | 45.5 | Automatic | 3264 × 2488 & 4608 × 3456 | 1.7 | 0.6 |
| Arvalis_1 | Handheld | Sony alpha ILCE-6000 | 50 & 60 | 7.1 | Automatic | 6000 × 4000 | 2.9 | 0.10-0.16 |
| Arvalis_2 | Handheld | Sony RX0 | 7.7 | 9.99 | Automatic | 800 × 800† | 1.8 | 0.56 |
| Arvalis_3 | Handheld | Sony RX0 | 7.7 | 9.99 | Automatic | 800 × 800† | 1.8 | 0.56 |
| INRAE_1 | Handheld | Sony RX0 | 7.7 | 9.99 | Automatic | 800 × 800† | 1.8 | 0.56 |
| USask_1 | Minivehicle | FLIR Chameleon3 USB3 | 16 | 19.8 | Fixed | 2448 × 2048 | 2 | 0.45 |
| RRes_1 | Gantry | Prosilica GT 3300 Allied Vision | 50 | 12.8 | Automatic | 3296 × 2472 | 3-3.5§ | 0.33-0.385 |
| ETHZ_1 | Gantry | Canon EOS 5D mark II | 35 | 32.2 | Fixed | 5616 × 3744 | 3 | 0.55 |
| NAU_1 | Handheld | Sony RX0 | 24 | 16.9 | Automatic | 4800 × 3200 | 2 | 0.21 |
| UQ_1 | Handheld | Canon 550D | 55 | 17.3 | Automatic | 5184 × 3456 | 2 | 0.2 |
∗The field of view is measured diagonally. The reported measure is the half-angle. †Original images were cropped, and a subimage of size 800 × 800 was extracted from the central area. §The camera was positioned perpendicular to the ground and automatically adjusted to ensure a 2.2 m distance was maintained between the camera and canopy.