Vision meets robotics: The KITTI dataset
Vision meets robotics: The KITTI dataset
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DOI：
10.1177/0278364913491297
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发表时间：
2013-09-01
影响因子：
9.2
通讯作者：
Urtasun, R.
中科院分区：
文献类型：
--
作者：
Geiger, A.;Lenz, P.;Urtasun, R.
我们提出了一个从大众旅行车捕获的新数据集，用于移动机器人和自动驾驶研究。总共，我们使用各种传感器模式，如高分辨率彩色和灰度立体摄像机，Velodyne 3D激光扫描仪和高精度GPS/IMU惯性导航系统，在10-100 Hz下记录了6小时的交通场景。场景是多种多样的，捕捉真实的交通情况，范围从农村地区的高速公路到具有许多静态和动态对象的城市场景。我们的数据经过校准，同步和时间戳，我们提供校正和原始图像序列。我们的数据集还以3D轨迹的形式包含对象标签，并且我们为立体，光流，对象检测和其他任务提供在线基准。本文介绍了我们的记录平台、数据格式和我们提供的实用工具。
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.