KITTI 计算机视觉算法评测数据集

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KITTI 是一套计算机视觉算法评测数据集,其主要用于自动驾驶场景下的相关测试,评测种类涵盖立体图像、光流、视觉测距、3D 物体检测和 3D 追踪等。KITTI 包含市区、乡村和高速公路等场景采集的真实图像数据,每张图像有最多 15 辆车和 30 个行人,并且拥有不同程度的遮挡和截断。

该数据集由 389 对立体图像和光流图、39.2km 视觉测距序列以及超过 200k 个 3D 标注物体图像组成,并以 10Hz 采样同步,其中原始数据集被分为「Road」、「City」、「Residential」、「Campus」和「Person」五类,而 3D 物体检测则分为 car、van、truck、pedestrian、 pedestrian(sitting)、cyclist、tram 以及 misc。

KITTI 数据集由德国卡尔斯鲁厄理工学院和丰田美国技术研究院于 2013 年联合发布,相关论文有《Vision meet Robotics:The KITTI Dataset》。

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  • KITTI/README.md 1.67 KB
  • KITTI/README.txt 1.67 KB
  • KITTI/data/depth/data_depth_annotated.zip 13.26 GB
  • KITTI/data/depth/data_depth_selection.zip 1.87 GB
  • KITTI/data/depth/data_depth_velodyne.zip 4.81 GB
  • KITTI/data/depth/depth_devkit.zip 47.73 KB
  • KITTI/data/object_detection/data_object_calib.zip 25.61 MB
  • KITTI/data/object_detection/data_object_det_2.zip 734.56 MB
  • KITTI/data/object_detection/data_object_image_2.zip 11.71 GB
  • KITTI/data/object_detection/data_object_image_3.zip 11.18 GB
  • KITTI/data/object_detection/data_object_label_2.zip 5.34 MB
  • KITTI/data/object_detection/data_object_prev_2.zip 35.04 GB
  • KITTI/data/object_detection/data_object_prev_3.zip 33.46 GB
  • KITTI/data/object_detection/data_object_velodyne.zip 26.78 GB
  • KITTI/data/odometry/data_odometry_calib.zip 586.17 KB
  • KITTI/data/odometry/data_odometry_color.zip 64.25 GB
  • KITTI/data/odometry/data_odometry_gray.zip 21.58 GB
  • KITTI/data/odometry/data_odometry_poses.zip 1.25 MB
  • KITTI/data/odometry/data_odometry_velodyne.zip 78.96 GB
  • KITTI/data/raw_dataset.z01 9.77 GB
  • KITTI/data/raw_dataset.z02 9.77 GB
  • KITTI/data/raw_dataset.z03 9.77 GB
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  • KITTI/data/raw_dataset.z10 9.77 GB
  • KITTI/data/raw_dataset.z11 9.77 GB
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  • KITTI/data/raw_dataset.z14 9.77 GB
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  • KITTI/data/raw_dataset.z16 9.77 GB
  • KITTI/data/raw_dataset.z17 9.77 GB
  • KITTI/data/raw_dataset.z18 9.77 GB
  • KITTI/data/raw_dataset.zip 7.31 GB
  • KITTI/data/road/data_road.zip 449.17 MB
  • KITTI/data/road/data_road_gray.zip 295.86 MB
  • KITTI/data/road/data_road_oxts.zip 199.46 KB
  • KITTI/data/road/data_road_right.zip 426.57 MB
  • KITTI/data/road/data_road_velodyne.zip 1.04 GB
  • KITTI/data/road/devkit_road.zip 21.76 KB
  • KITTI/data/road/devkit_road_mapping.zip 1.45 KB
  • KITTI/data/sceneflow/data_scene_flow.zip 1.57 GB
  • KITTI/data/sceneflow/data_scene_flow_calib.zip 1.56 MB
  • KITTI/data/sceneflow/data_scene_flow_multiview.zip 12.51 GB
  • KITTI/data/sceneflow/devkit_scene_flow.zip 2.08 MB
  • KITTI/data/semantic/data_semantics.zip 312.52 MB
  • KITTI/data/semantic/devkit_semantics.zip 174.74 KB
  • KITTI/data/stereo_flow_2012/data_stereo_flow.zip 1.87 GB
  • KITTI/data/stereo_flow_2012/data_stereo_flow_calib.zip 311.63 KB
  • KITTI/data/stereo_flow_2012/data_stereo_flow_multiview.zip 16.55 GB
  • KITTI/data/stereo_flow_2012/devkit_stereo_flow.zip 2.07 MB
  • KITTI/data/stereo_flow_2015/data_scene_flow.zip 1.57 GB
  • KITTI/data/stereo_flow_2015/data_scene_flow_calib.zip 1.56 MB
  • KITTI/data/stereo_flow_2015/data_scene_flow_multiview.zip 12.51 GB
  • KITTI/data/stereo_flow_2015/devkit_scene_flow.zip 2.08 MB
  • KITTI/data/tracking/data_tracking_calib.zip 87.72 KB
  • KITTI/data/tracking/data_tracking_det_2_lsvm.zip 102.72 MB
  • KITTI/data/tracking/data_tracking_det_2_regionlets.zip 30.79 MB
  • KITTI/data/tracking/data_tracking_image_2.zip 14.73 GB
  • KITTI/data/tracking/data_tracking_image_3.zip 14.06 GB
  • KITTI/data/tracking/data_tracking_label_2.zip 2.15 MB
  • KITTI/data/tracking/data_tracking_oxts.zip 7.97 MB
  • KITTI/data/tracking/data_tracking_velodyne.zip 34.3 GB
  • KITTI/samples_0.jpg 61.27 KB
  • KITTI/samples_1.jpg 133.86 KB
  • KITTI/samples_2.jpg 129.14 KB
  • KITTI/samples_3.jpg 119.18 KB
  • KITTI/samples_4.jpg 50.91 KB
  • KITTI/samples_5.jpg 59.92 KB
  • KITTI/samples_6.jpg 94.73 KB
  • KITTI/samples_7.png 217.3 KB