KITTI-Dataset
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Published
20 hours ago •
alexstaravoitau
alexstaravoitau
Visualising LIDAR data from KITTI dataset.
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 512pixels - 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.
For a more in-depth exploration and implementation details see notebook.
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alexstaravoitau
Metadata
Visualising LIDAR data from KITTI dataset.