Vision meets robotics: The KITTI dataset

Abstract

We present a novel dataset captured from a VW station wagon for use in mobile robotics and autonomous driving research. In total, we recorded 6 hours of traffic scenarios at 10-100 Hz using a variety of sensor modalities such as high-resolution color and grayscale stereo cameras, a Velodyne 3D laser scanner and a high-precision GPS/IMU inertial navigation system. The scenarios are diverse, capturing real-world traffic situations, and range from freeways over rural areas to inner-city scenes with many static and dynamic objects. Our data is calibrated, synchronized and timestamped, and we provide the rectified and raw image sequences. Our dataset also contains object labels in the form of 3D tracklets, and we provide online benchmarks for stereo, optical flow, object detection and other tasks. This paper describes our recording platform, the data format and the utilities that we provide.

Occluded Street Objects Perception Algorithm of Intelligent Vehicles Based on 3D Projection Model

“…frames (△t) in the video to simulate the front and back vehicle images. And we used Karlsruhe dataset and KITTI dataset [31] to evaluate the accuracy of the projection results. However, it is hard to evaluate the results by using dataset in [17] and our dataset because the objects in back images are occluded by the front vehicles.…”

Visual Simultaneous Localization and Mapping (VSLAM) methods applied to indoor 3D topographical and radiological mapping in real-time

“…Most of SLAM systems performances are compared thanks to Kitti dataset [12]. Nevertheless, Kitty dataset does not provide integrated comparison of nuclear sources localization systems merged to SLAM methods in real-time.…”

Sensor Fault Detection and Diagnosis for autonomous vehicles

“…The implementation of the perception system has been done based on the perception sensors available in the KITTI dataset [19][20][21], which includes a Velodyne sensor and two pairs of stereo vision cameras. The federated perception architecture suggested to fuse sensor data from the KITTI dataset is shown in Figure 3 …”