KITTI Dataset Save

Visualising LIDAR data from KITTI dataset.

Project README

KITTI Dataset Exploration

Dependencies

Apart from the common dependencies like numpy and matplotlib notebook requires pykitti. You can install pykitti via pip using:

pip install pykitti

Project structure

File Description
kitti-dataset.ipynb Jupyter Notebook with dataset visualisation routines and output.
parseTrackletXML.py Methods for parsing tracklets (e.g. dataset labels), originally created by Christian Herdtweck.
utilities.py Convenient logging routines.

Dataset

I have used one of the raw datasets available on KITTI website. See the first one in the list: 2011_09_26_drive_0001 (0.4 GB).

  • Length: 114 frames (00:11 minutes)
  • Image resolution: 1392 x 512 pixels
  • Labels: 12 Cars, 0 Vans, 0 Trucks, 0 Pedestrians, 0 Sitters, 2 Cyclists, 1 Trams, 0 Misc

I mainly focused on point cloud data and plotting labeled tracklets for visualisation. Cars are marked in blue, trams in red and cyclists in green.

Point cloud data with labels

For a more in-depth exploration and implementation details see notebook.

Open Source Agenda is not affiliated with "KITTI Dataset" Project. README Source: alexstaravoitau/KITTI-Dataset
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