KITTI Dataset

Overview

Excerpts from the following papers:

• Vision meets Robotics: The KITTI Dataset, 2013
• Are we ready for Autonomous Driving?The KITTI Vision Benchmark Suite, 2012

Data Description

• Image: image_2

  • 8-bit PNG file: training/image_2/000085.png

• Velodyne: velodyne

  • Each point stored as floating point binaries: [x, y, z, reflectance]
  • Number of points per scan is not constant

• Calibration: calib

  • Variables
    • P0:
    • P1:
    • P2:
    • P3:
    • R0_rect:
    • Tr_velo_to_cam:
    • Tr_imu_to_velo:
  • To project a point from Velodyne coordinates into the color image, you can use this formula
    • x = P2 * R0_rect * Tr_velo_to_cam * y (for the left color image)
    • x = P3 * R0_rect * Tr_velo_to_cam * y (for the right color image)

• Label: label_2

  • For each dynamic object within the reference camera’s field of view, we provide annotations in the form of 3D bounding box tracklets.

  Values	Name	Description
  1	type	Describes the type of object: 'Car', 'Van', 'Truck', 'Pedestrian', 'Person_sitting', 'Cyclist', 'Tram', 'Misc' or 'DontCare'
  1	truncated	Float from 0 (non-truncated) to 1 (truncated), where truncated refers to the object leaving image boundaries
  1	occluded	Integer (0,1,2,3) indicating occlusion state: 0 = fully visible, 1 = partly occluded, 2 = largely occluded, 3 = unknown
  1	alpha	Observation angle of object, ranging [-pi..pi]
  4	bbox	2D bounding box of object in the image (0-based index): contains left, top, right, bottom pixel coordinates
  3	dimensions	3D object dimensions: height, width, length (in meters)
  3	location	3D object location x,y,z in camera coordinates (in meters)
  1	rotation_y	Rotation ry around Y-axis in camera coordinates [-pi..pi]
  1	score	Only for results: Float, indicating confidence in detection, needed for p/r curves, higher is better.

  • training/label_2/000085.txt

  Van 0.90 0 -0.79 0.00 57.67 245.43 374.00 2.46 2.03 5.35 -5.26 1.68 5.45 -1.53
  Cyclist 0.00 0 -1.54 678.16 164.16 705.93 243.78 1.82 0.59 1.89 1.96 1.63 17.42 -1.43
  Pedestrian 0.00 0 0.90 304.95 177.99 359.91 304.07 1.57 0.52 0.62 -3.69 1.64 9.37 0.54
  Car 0.27 3 -2.42 0.00 179.86 156.79 244.69 1.44 1.62 3.91 -13.19 1.62 17.05 -3.07
  DontCare -1 -1 -10 644.98 164.60 670.02 188.60 -1 -1 -1 -1000 -1000 -1000 -10
  DontCare -1 -1 -10 739.77 173.98 799.19 209.44 -1 -1 -1 -1000 -1000 -1000 -10