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Questions tagged [kitti]

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

References

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How do we project from camera to lidar coordinate when both of the sensors share same coordinate systems?

I am working on object detection task. I am able to detect objects in kitti point cloud. I am trying to use the same code on my own point cloud dataset. In Kitti dataset the camera and lidar sensor share different coordinate systems. I have attached…
Hetali
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Convert point cloud from pointcloud2 (rosbag) to bin (KITTI)

How can I convert a point cloud saved in rosbag, in format sensor_msgs/PointCloud2, to .bin files in KITTI format? I know that it is possible to convert to .pcd (http://wiki.ros.org/pcl_ros#pointcloud_to_pcd) so perhaps even a pcd to bin converter…
Rexcirus
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How to convert pixels to meters in kitti dataset?

I have checked the related topics but none of them answered my question.I have used kitti dataset for my neural network, I have no problem in detecting objects. The only thing I don't understand is that I have obtained the distance of objects in…
fatiman
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Are Kitti 2015 stereo dataset images already rectified?

I am trying to test my Stereo matching algorithm on Kitti 2015 stereo dataset http://www.cvlibs.net/datasets/kitti/eval_scene_flow.php?benchmark=stereo. My algorithm assumes that the stereo cameras are well calibrated and the stereo images already…
Taki Eddine
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How to convert Opencv single camera calibration matrix to Kitti format?

I am working with monocular 3D object detection. The GitHub repository uses the Kitti dataset and Kitti calibration matrix. P_rect_02 matrix from "calib_cam_to_cam.txt": [ 718 0 607 45.3] [ 0 718 185 -0.113] [ 0 0 1 0.00377] Now, I have one…
Zillur Rahman
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how to add custom field to annotation in Yolo?

I want to use the kitti dataset and training it with the yolo algorithm. In general, the format of the number of objects and the coordinates of the object in an image for each object are as follows: …
aysa
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What's "pose_left.txt" in KITTI dataset, Visual Odometry?

I notice there's a pose_left.txt in the KITTI_VO dataset, which has 7 number each row like: 2.220445999999999902e-16 1.665335000000000021e-16 -1.110222999999999951e-16 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00…
dexter2406
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How to train on single image depth estimation on KITTI dataset with masking method

I'm studying on a deep learning(supervised-learning) to estimate depth images from monocular images. And the dataset currently uses KITTI data. RGB images (input image) are used KITTI Raw data, and data from the following link is used for…
john lee
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How much ground truth error does the KITTI dataset have?

I visualized KITTI odometry dataset with ground truth and Velodyne point cloud data. http://www.cvlibs.net/datasets/kitti/eval_odometry.php The height of the camera position seems different after the loop in the sequence. I am not sure this is…
Masahiro
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Labeled CAR point cloud KITTI

I am trying to identify objects in a point cloud using this tutorial from PCL. I am using Kitti Dataset. For this tutorial I need a point cloud scan of the object I am trying to identify. So in my case, the kitti scans contain 3D point clouds with…
Tahjid Ashfaque
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How to calculate the Horizontal and Vertical FOV for the KITTI cameras from the camera intrinsic matrix?

I would like to calculate the Horizontal and Vertical field of view from the camera intrinsic matrix for the cameras used in the KITTI dataset. The reason I need the Field of view is to convert a depth map into 3D point clouds.
vrk-prgmr
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Getting Nan result out of ResNet101 backbone with Kitti images

I am using the following: CUDA 10.0 PyTorch 1.2 https://github.com/ruotianluo/pytorch-faster-rcnn Testing weight set is not the same as Training weight set. Training weight set is from caffe pretrained ResNet101 backbone I have taken this repo…
mHo2
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How to evaluate the results in the KITTI odometry dataset

I am trying to use KITTI open dataset to do some tests about vision odometry or vision INS odometry. But I can't understand the codes which are provided by KITTI odometry. I have downloaded the development kit (I think that it includes some codes…
Yancen BOB
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Projection of 3D Lidar point in the i-th camera image (KITTI Dataset)

I am working on an object classification problem, and I am using Lidar and camera data from the Kitti Dataset. In this article: http://www.cvlibs.net/publications/Geiger2013IJRR.pdf, they provide the formulas for projecting the 3d PointCloud into…
Doxcos44
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In KITTI Dataset, which sequence that start with initial velocity of 0?

I want to use KITTI dataset too do SLAM (Simultaneous Localization And Mapping) in Google Cartographer in ROS. I need set of sequence of KITTI (from Raw or Odometry dataset) which the vehicle's initial velocity in that sequence is 0. Which sequence…
nobinov
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