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.