Kitti is a benchmark suite for autonomous driving platforms.
This benchmark suite is based on data collected from autonomous vehicles, for benchmarking different tasks related to autonomous vehicles
Questions tagged [kitti]
62 questions
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TypeError: transpose() received an invalid combination of arguments - got (tuple), but expected one of: (int dim0, int dim1) or (name dim0, name dim1)
I am trying to generate adversarial images using the FastGradientMethod attack in the ART library on a YOLOv5 object detection model. However, I am running into an error when attempting to generate the adversarial image using the fgm.generate()…
Mark Truss
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Understanding the ground truth poses in the KITTI Dataset
Why are there more ground truth poses than point clouds? (i.e. for sequence 00, there are 4541 ground truth poses in the txt file but there are only 4540 point clouds in the velodyne file)
Nicole
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Are the elements of the Pose Matrix in Kitti Odometry dataset absolute or relative?
I am working with Kitti Odometry dataset. I know that poses.txt file's each row represents a flattened version of 4*4 Pose matrix such that:
r11 r12 r13 tx
r21 r22 r23 ty
r31 r32 r33 tz
0 0 0 1
My question is that are these values relative or…
cangozpi
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Is it possible to use Kitti dataset for supervised monocular depth estimation?
I have recently started to learn more about supervised monocular depth estimation. I used the NYU-V2 dataset for it. it is easy to design a torch loader and pre-process the data since the structure of the dataset is quite clear. But in the case of…
PNF
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3D annotated images to 3D KITTI Format
I annotated 2D images using 3D Bounding boxes. Now, I want to convert this data's format to KITTI dataset's Format. Is there any way to do it?
Aman Kothari
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how do i get intrinsic, extrinsic matrix from calib.txt(P0 ~ P3) in KITTI 3d object dataset?
i know calib_cam_to_cam.txt in kitti.
So i can use
"""
S_xx: 1x2 size of image xx before rectification
K_xx: 3x3 calibration matrix of camera xx before rectification
D_xx: 1x5 distortion vector of camera xx before rectification
R_xx: 3x3 rotation…
learner
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Kitti stereo poses in world coordinate system
I'm currently experimenting with Kitti stereo dataset (http://www.cvlibs.net/datasets/kitti/eval_odometry.php), the goal is to find a correct matrix that projects pixels to points in world coordinate system.
The problem is that I'm not sure which…
Kosheleva Elena
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How to evaluate Monocular Visual Odometry results used the KITTI odometry dataset
I am trying to use KITTI open dataset to do Deep Monocular Visual Odometry
I tried to use this repo
it converts pose to 6DoF using this code
def get6DoFPose(self, p):
pos = np.array([p[3], p[7], p[11]])
R = np.array([[p[0], p[1], p[2]],…
Essam Goda
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Are KITTI depth maps showing distance from camera point or camera plane?
I was always using KITTI raw LiDaR scans data set as a ground truth for my depth studies
and thought that they are representing distance between some point and camera plane, i.e. z coordinate.
For example, pixel depth of 364th row of the image…
Benjamin
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How to compute focal lenght of a camera from KITTI dataset
I work on the Kitti dataset of stereo images.
I have the intrinsic matrix given:
K_l = np.array([9.597910e+02, 0.000000e+00, 6.960217e+02, 0.000000e+00,
9.569251e+02, 2.241806e+02, 0.000000e+00, 0.000000e+00, 1.000000e+00])
How can…
Younès Raoui
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TensorFlow Kitti-trained models: Detailed underlying training procedure
for my ML project I want to use the faster_rcnn_resnet101_kitti model from tensorflow model zoo. As the number of images in the Kitti dataset is extremely small (about 7000 images) for a deep learning practice, I was wondering how this small amount…
Ali Malek
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Pykitti - Getting the Velodyne to Camera Transform
I am trying to figure out the API to get the Velodyne to the camera transform, but it looks like the API doesn't expose it. Does anyone know how to get this?
The API only exposes the velodyne to imu, and imu to camera transformations. I tried…
raaj
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COCO object detection evaluation metrics vs Kitti evaluation
For my validation dataset (own data), I evaluate using both COCO and Kitti evaluation metrics.
I expect a similar score for COCO AP (0.5) value and Kitti 2D AP (with iou=0.5). But I am not sure if they are comparable, inspite the logic behind them…
Apoorva Suresh
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Visual Odometry, Camera Parameters
I am studying about visual odometry and watched Prof. Dr. Cyrill Stachniss' video recordings which are available as YouTube 2015/16 Playlist about Photogrammetry I & II .
First, If I want to create my own dataset (like KITTI dataset for VO or like…
jasmin
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How to get Bird's Eye View from KITTI by Projection Matrix?
The goal is to get the Bird's Eye View from KITTI images (dataset), and I have the Projection Matrix (3x4).
There are many ways to generate transformation matrices. For Bird's Eye View I have read some kind math expressions, like:
H12 =…
VíctorV
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