kitti

Kitti contains a suite of vision tasks built using an autonomous driving platform. The full benchmark contains many tasks such as stereo, optical flow, visual odometry, etc. This dataset contains the object detection dataset, including the monocular images and bounding boxes. The dataset contains 7481 training images annotated with 3D bounding boxes. A full description of the annotations can be found in the readme of the object development kit readme on the Kitti homepage.

• URL: http://www.cvlibs.net/datasets/kitti/
• DatasetBuilder: tfds.object_detection.kitti.Kitti
• Version: v3.1.0

• Versions:

  • 3.1.0 (default):
  • 2.0.0: New split API (https://tensorflow.org/datasets/splits)

• Size: 11.71 GiB

Features

FeaturesDict({
    'image': Image(shape=(None, None, 3), dtype=tf.uint8),
    'image/file_name': Text(shape=(), dtype=tf.string),
    'objects': Sequence({
        'alpha': Tensor(shape=(), dtype=tf.float32),
        'bbox': BBoxFeature(shape=(4,), dtype=tf.float32),
        'dimensions': Tensor(shape=(3,), dtype=tf.float32),
        'location': Tensor(shape=(3,), dtype=tf.float32),
        'occluded': ClassLabel(shape=(), dtype=tf.int64, num_classes=4),
        'rotation_y': Tensor(shape=(), dtype=tf.float32),
        'truncated': Tensor(shape=(), dtype=tf.float32),
        'type': ClassLabel(shape=(), dtype=tf.int64, num_classes=8),
    }),
})

Statistics

Split	Examples
ALL	7,481
TRAIN	6,347
TEST	711
VALIDATION	423

Homepage

• http://www.cvlibs.net/datasets/kitti/

Citation

@inproceedings{Geiger2012CVPR,
  author = {Andreas Geiger and Philip Lenz and Raquel Urtasun},
  title = {Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite},
  booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2012}
}

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