KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute) is one of the most popular datasets for use in mobile robotics and autonomous driving. It consists of hours of traffic scenarios recorded with a variety of sensor modalities, including high-resolution RGB, grayscale stereo cameras, and a 3D laser scanner. Despite its popularity, the dataset itself does not contain ground truth for semantic segmentation. However, various researchers have manually annotated parts of the dataset to fit their necessities. Álvarez et al. generated ground truth for 323 images from the road detection challenge with three classes: road, vertical, and sky. Zhang et al. annotated 252 (140 for training and 112 for testing) acquisitions – RGB and Velodyne scans – from the tracking challenge for ten object categories: building, sky, road, vegetation, sidewalk, car, pedestrian, cyclist, sign/pole, and fence. Ros et al. labeled 170 training images and 46 testing images (from the visual odome
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DurLAR is a high-fidelity 128-channel 3D LiDAR dataset with panoramic ambient (near infrared) and reflectivity imagery for multi-modal autonomous driving applications. Compared to existing autonomous driving task datasets, DurLAR has the following novel features:
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Our trajectory dataset consists of camera-based images, LiDAR scanned point clouds, and manually annotated trajectories. It is collected under various lighting conditions and traffic densities in Beijing, China. More specifically, it contains highly complicated traffic flows mixed with vehicles, riders, and pedestrians.
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The Inpainting dataset consists of synchronized Labeled image and LiDAR scanned point clouds. It's captured by HESAI Pandora All-in-One Sensing Kit. It is collected under various lighting conditions and traffic densities in Beijing, China.
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