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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

62 questions
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How to understand the KITTI camera calibration files?

I am working on the KITTI dataset. I have downloaded the object dataset (left and right) and camera calibration matrices of the object set. I want to use the stereo information. But I don't know how to obtain the Intrinsic Matrix and R|T Matrix of…
Yao Liu
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How Kitti calibration matrix was calculated?

I working with other dataset (no kitti), but I need to convert it in kitti dataset format. I can't understand how calibration matrices were calculated in kitti. Example: camera 2 (P2) calibration matrix from calib.txt: [718.856 0 607.1928 …
ForceQuell
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Compute pose / transformation matrix (rotation and translation) from gps location and (roll, pitch, yaw) for KITTI raw dataset

I'm trying to compute the relative pose between two frames in a video from KITTI raw dataset. The oxts data provides lat, lon, alt, roll, pitch, yaw for each of the frames. How can I convert this data into a transformation matrix (rotation matrix…
Nagabhushan S N
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Visual Odometry, Kitti Dataset

I am currently trying to make a stereo visual odometry using Matlab with the KITTI dataset I know the folder 'poses.txt' contains the ground truth poses (trajectory) for the first 11 sequences. Each file xx.txt contains an N x 12 table, where N is…
jasmin
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Using RGB images and PointCloud, how to generate depth map from the PointClouds? (python)

I am working on fusing Lidar and Camera images in order to perform a classification object algorithm using CNN. I want to use the KITTI Dataset which provide synchronized lidar and rgb image data. Lidar are 3D-scanners, so the output is a 3D Point…
Doxcos44
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How to label my own point cloud and image data to have the 3D training labels (.txt) files like KITTI 3D object detection dataset?

I have point cloud files (pcd + bin) and image (png) files. I would like to label them by my own and extract text files like KITTI format (KITTI = 2D from image + 3D from point cloud). KITTI format Can someone please let me know which annotator…
Mai
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Post-processing of Kitti dataset, bin, and pcd data

The .bin file or pcd file of the Kitti dataset has 64 layers. But I will do 3D detection with my 3 VLP16 Lidars. For learning, I want to reduce the number of 64 layers in the Kitti dataset to 16 or 32. The kitti dataset consists of a .bin file,…
2eon
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Kitti Eigen Split

I am wondering what is the Kitti Eigen Split. Why is it used in depth estimation? I am working with the Kitti dataset for my computer vision research. However, I am a beginner in computer vision terminology. Thanks,
user12981435
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How do I replicate the error values of OpenCV SGBM on KITTI dataset?

I've recently been working on the KITTI dataset- specifically the stereo subsection. I tried to replicate the results using the OpenCV SGBM method. I have used all the same parameters as specified on the OpenCV results page in the KITTI…
AsishG
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What are the extrinsic and intrinsic parameters of the two color cameras used for KITTI stereo 2015 dataset

I am working with KITTI stereo 2015 data set (http://www.cvlibs.net/datasets/kitti/eval_scene_flow.php?benchmark=stereo) with color images from the two cameras(cam2 and cam3) mounted on the roof. I would like to know their intrinsic and extrinsic…
Fazan Kabir
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How to label my own point cloud data to have the 3D training labels (.txt) files like KITTI 3D object detection dataset?

I am new to this field, I have collected some point cloud data using lidar sensor and camera and now I have .pcd files for the point cloud and .png files for the images. I wanted to make this data like the KITTI dataset structure for 3d object…
Mohamed Aboushnief
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How to rectify my own image to the cameras of the KITTI dataset using OpenCV

Based on the documentation of stereo-rectify from OpenCV, one can rectify an image based on two camera matrices, their distortion coefficients, and a rotation-translation from one camera to another. I would like to rectify an image I took using my…
Sam Hammamy
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How to obtain a dense ground truth image for depth prediction in kitti dataset?

For example let's say that this is the input image: Input image This is the original ground truth downloaded: GT But in all the papers they show something like this: heat map How can I obtain the last one?
aca06
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2D camera and 3D lidar calibration (kitti format)

I have camera and lidar calib files like this: camera: x: 0.8321346282958983 y: -0.011121243238449097 z: -0.5207197332382203 roll: 0.5077840027360132 pitch: 0.7446574568748474 yaw: 0.3340256132006706 width: 1920 height: 1080 cx: 960.0 cy: 540.0 fx:…
Dang Vo
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Extract the baseline and focal length using KITTI 2015 stereo dataset

I am new to image processing and I need to use the KITTI 2015 stereo images for performing a depth estimation using Census transform and hamming distance. For this I to need to find out how to extract the baseline and focal length from the…
Vulsan Bianca
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