Road Traversing Knowledge for Quality Classification

The dataset presents three quality levels classes (good, regular, and bad) for each surface kind: asphalt, paved and unpaved. The only exception is the unpaved surface that does not contain the class "good" due to its poor nature.

The number of images by surface-quality class is: asphalt-good: 1978 asphalt-regular: 839 asphalt-bad: 464 paved-good: 1179 paved-regular: 324 paved-bad: 124 unpaved_bad: 593 unpaved-regular: 796 All images were collected during the daytime in good weather conditions. The frames present lighting variations, shadows, and solar glare. Moreover, it is also noticed intra-class variations, such as asphalt surfaces with different color intensities, e.g., older asphalts are usually lighter than the new ones; paved surfaces formed by different patterns, e.g., cobblestone and concrete; and unpaved surfaces, which are naturally uneven.