KITTI-CARLA: a KITTI-like dataset generated by CARLA Simulator
- URL: http://arxiv.org/abs/2109.00892v1
- Date: Tue, 17 Aug 2021 13:44:34 GMT
- Title: KITTI-CARLA: a KITTI-like dataset generated by CARLA Simulator
- Authors: Jean-Emmanuel Deschaud
- Abstract summary: KITTI-CARLA is a dataset built from the CARLA v0.9.10 simulator using a vehicle with sensors identical to the KITTI dataset.
The objective of this dataset is to test approaches of semantic segmentation LiDAR and/or images, odometry LiDAR and/or image in synthetic data.
- Score: 6.65010897396803
- License: http://creativecommons.org/licenses/by/4.0/
- Abstract: KITTI-CARLA is a dataset built from the CARLA v0.9.10 simulator using a
vehicle with sensors identical to the KITTI dataset. The vehicle thus has a
Velodyne HDL64 LiDAR positioned in the middle of the roof and two color cameras
similar to Point Grey Flea 2. The positions of the LiDAR and cameras are the
same as the setup used in KITTI. The objective of this dataset is to test
approaches of semantic segmentation LiDAR and/or images, odometry LiDAR and/or
image in synthetic data and to compare with the results obtained on real data
like KITTI. This dataset thus makes it possible to improve transfer learning
methods from a synthetic dataset to a real dataset. We created 7 sequences with
5000 frames in each sequence in the 7 maps of CARLA providing different
environments (city, suburban area, mountain, rural area, highway...). The
dataset is available at: http://npm3d.fr
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