The Hopkins 155 Dataset has been created with the goal of providing an extensive benchmark for testing feature based motion segmentation algorithms. It contains video sequences along with the features extracted and tracked in all the frames. The ground-truth segmentation is also provided for comparison purposes. The data is stored in the .MAT file format. Checkerboard sequences: this category consists of 104 sequences of indoor scenes taken with a handheld camera under controlled conditions. The checkerboard pattern on the objects is used to assure a large number of tracked points. Traffic sequences: this category consists of 38 sequences of outdoor traffic scenes taken by a moving handheld camera. Other (Articulated/non-rigid sequences): this category contains 13 sequences displaying motions constrained by joints, head and face motions, people walking, etc. R. Tron and R. Vidal. A Benchmark for the Comparison of 3-D Motion Segmentation Algorithms. IEEE International Conference on Computer Vision and Pattern Recognition, June 2007.

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