KITTI

Introduced by Andreas Geiger et al. in Are we ready for autonomous driving? The KITTI vision benchmark suite

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 odometry challenge) with 11 classes: building, tree, sky, car, sign, road, pedestrian, fence, pole, sidewalk, and bicyclist.

Source: A Review on Deep Learning Techniques Applied to Semantic Segmentation

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Benchmarks

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Task	Dataset Variant	Best Model
Monocular Depth Estimation	KITTI Eigen split	Metric3Dv2
Monocular Depth Estimation	KITTI Eigen split unsupervised	SQLdepth
3D Object Detection	KITTI Cars Moderate	GLENet-VR
Monocular 3D Object Detection	KITTI Cars Moderate	CIE
3D Object Detection	KITTI Cars Easy	GLENet-VR
3D Object Detection	KITTI Cars Hard	3D Dual-Fusion
Multiple Object Tracking	KITTI Tracking test	UCMCTrack
Vehicle Pose Estimation	KITTI Cars Hard	Ego-Net
Optical Flow Estimation	KITTI 2015 (train)	DEQ-Flow-H
Optical Flow Estimation	KITTI 2015	CamLiRAFT
Point Cloud Registration	KITTI (trained on 3DMatch)	GeDi
3D Object Detection From Stereo Images	KITTI Cars Moderate	DSGN++
3D Object Detection	KITTI Cyclists Easy	3D-FCT
3D Object Detection	KITTI Cyclists Moderate	3D-FCT
3D Object Detection	KITTI Cyclists Hard	SA-Det3D
Optical Flow Estimation	KITTI 2012	CroCo-Flow
3D Object Detection	KITTI Pedestrians Moderate	3D-FCT
3D Object Detection	KITTI Cars Moderate val	SA-SSD+EBM
Point Cloud Registration	KITTI (FCGF setting)	GeoTransformer
3D Object Detection	KITTI Cars Easy val	SA-SSD+EBM
3D Object Detection	KITTI Cars Hard val	M3DeTR
3D Object Detection	KITTI Pedestrians Hard	SVGA-Net
Birds Eye View Object Detection	KITTI Cars Moderate	SE-SSD
3D Object Detection	KITTI Pedestrians Easy	IPOD
Birds Eye View Object Detection	KITTI Cars Easy	SE-SSD
Birds Eye View Object Detection	KITTI Cars Hard	STD
Stereo Image Super-Resolution	KITTI2015 - 4x upscaling	NAFSSR-L
Stereo Image Super-Resolution	KITTI2015 - 2x upscaling	SwinFIRSSR
Stereo Depth Estimation	KITTI2015	HITNET
Semantic Segmentation	KITTI Semantic Segmentation	RPVNet [xu2021rpvnet]
Stereo Image Super-Resolution	KITTI2012 - 4x upscaling	SwinFIRSSR
3D Multi-Object Tracking	KITTI	EagerMOT
Birds Eye View Object Detection	KITTI Cyclists Moderate	PV-RCNN
Point Cloud Registration	KITTI	GeDi
Monocular 3D Object Detection	KITTI Cars Hard	CIE
3D Object Detection From Stereo Images	KITTI Pedestrians Moderate	DSGN++
Birds Eye View Object Detection	KITTI Pedestrians Moderate	Frustrum-PointPillars
3D Object Detection From Stereo Images	KITTI Cyclists Moderate	DSGN++
Object Detection	KITTI Cars Easy	Patches
Object Detection	KITTI Cars Hard	Patches
3D Object Detection	KITTI Pedestrian Moderate val	PVCNN
3D Object Detection	KITTI Pedestrian Easy val	PVCNN
3D Object Detection	KITTI Pedestrian Hard val	PVCNN
3D Object Detection	KITTI Cyclist Easy val	PVCNN
3D Object Detection	KITTI Cyclist Moderate val	PVCNN
3D Object Detection	KITTI Cyclist Hard val	F-PointNet++ [Qi:2018fd]
Object Detection	KITTI Cars Moderate	Patches
Panoptic Segmentation	KITTI Panoptic Segmentation	EfficientPS
Optical Flow Estimation	KITTI 2015 unsupervised	MDFlow
Monocular 3D Object Detection	KITTI Pedestrian Hard	DD3D
Scene Flow Estimation	KITTI 2015 Scene Flow Training	EPC
Scene Flow Estimation	KITTI 2015 Scene Flow Test	CamLiRAFT
Monocular 3D Object Detection	KITTI Cars Easy	CIE
Stereo Image Super-Resolution	KITTI2012 - 2x upscaling	SSRDE-FNet
Object Localization	KITTI Pedestrians Hard	Frustrum-PointPillars
Object Localization	KITTI Pedestrians Moderate	Frustrum-PointPillars
Stereo Image Super-Resolution	KITTI2012 - 2x upscaling	SwinFIRSSR
Image Dehazing	KITTI	FFA-Net
Monocular 3D Object Detection	KITTI Pedestrian Easy	CMKD
Monocular 3D Object Detection	KITTI Pedestrian Moderate	CMKD
Multi-Object Tracking	KITTI Tracking test	DeepFusionMOT
Test results	KITTI	Rel-Att GCN
Video Prediction	KITTI	DMVFN
Birds Eye View Object Detection	KITTI Cars Moderate val	VoxelNet
Object Localization	KITTI Cars Hard	VoxelNet
Stereo Depth Estimation	KITTI 2015	MoCha-Stereo
Object Tracking	KITTI	M2-Track
Stereo Disparity Estimation	KITTI 2015	MoCha-Stereo
Object Localization	KITTI Cars Moderate	Frustum PointNets
Object Localization	KITTI Cars Easy	VoxelNet
Depth Estimation	KITTI 2015	H-Net
Monocular 3D Object Detection	KITTI Cyclist Easy	CMKD
Monocular 3D Object Detection	KITTI Cyclist Moderate	CMKD
Monocular 3D Object Detection	KITTI Cyclist Hard	CMKD
Object Localization	KITTI Cyclists Hard	Frustum PointNets
Object Localization	KITTI Cyclists Moderate	Frustum PointNets
Birds Eye View Object Detection	KITTI Cars Hard val	VoxelNet
Monocular Cross-View Road Scene Parsing(Vehicle)	KITTI2012	DCTNet
Monocular Cross-View Road Scene Parsing(Road)	Kitti Odometry	DCTNet
Birds Eye View Object Detection	KITTI Cyclists Easy	PV-RCNN
Birds Eye View Object Detection	KITTI Cyclists Hard	PV-RCNN
Monocular Cross-View Road Scene Parsing(Road)	Kitti Raw	DCTNet
Birds Eye View Object Detection	KITTI Cars Easy val	VoxelNet
Birds Eye View Object Detection	KITTI Pedestrians Easy	STD
Dense Pixel Correspondence Estimation	KITTI 2012	COTR
Monocular Depth Estimation	KITTI	MonoViT
Dense Pixel Correspondence Estimation	KITTI 2015	COTR
Optical Flow Estimation	KITTI 2012 unsupervised	ARFlow-MV
Object Localization	KITTI Cyclists Easy	Frustum PointNets
Depth Prediction	KITTI 2015	H-Net
Object Localization	KITTI Pedestrians Easy	Frustum PointNets
Birds Eye View Object Detection	KITTI Pedestrians Hard	Frustrum-PointPillars
Birds Eye View Object Detection	KITTI Pedestrian Hard	PiFeNet
Birds Eye View Object Detection	KITTI Pedestrian	PiFeNet
3D Object Detection	KITTI Pedestrian Easy	PiFeNet
3D Object Detection	KITTI Pedestrian	PiFeNet
Unsupervised Monocular Depth Estimation	KITTI	TriDepth
Birds Eye View Object Detection	KITTI Cyclist Moderate val	VoxelNet
Birds Eye View Object Detection	KITTI Cyclist Hard val	VoxelNet
Birds Eye View Object Detection	KITTI Cyclist Easy val	VoxelNet
Birds Eye View Object Detection	KITTI Pedestrian Hard val	VoxelNet
Birds Eye View Object Detection	KITTI Pedestrian Moderate val	VoxelNet
Birds Eye View Object Detection	KITTI Pedestrian Easy val	VoxelNet
Unsupervised Monocular Depth Estimation	Kitti Raw	TriDepth
Image Super-Resolution	KITTI 2012 - 2x upscaling	PASSRnet
Image Super-Resolution	KITTI 2012 - 4x upscaling	PASSRnet
Image Super-Resolution	KITTI 2015 - 2x upscaling	PASSRnet
Image Super-Resolution	KITTI 2015 - 4x upscaling	PASSRnet
Depth Estimation	KITTI Eigen split	LightDepth
Monocular 3D Object Detection	KITTI Pedestrians Moderate val	CubifAE-3D
3D Object Detection	KITTI Pedestrian Hard	PiFeNet
Horizon Line Estimation	KITTI Horizon	ConvLSTM
Image-to-Image Translation	KITTI Object Tracking Evaluation 2012	SRNet
Stereo Depth Estimation	KITTI2012	AnyNet
Object Detection	KITTI Pedestrians Easy	Vote3Deep
Object Detection	KITTI Pedestrians Moderate	Vote3Deep
Object Detection	KITTI Pedestrians Hard	Vote3Deep
Object Detection	KITTI Cyclists Easy	Vote3Deep
Object Detection	KITTI Cyclists Moderate	Vote3Deep
Object Detection	KITTI Cyclists Hard	Vote3Deep
3D Object Detection	KITTI Cyclists Moderate val	Deformable PV-RCNN
3D Object Detection	KITTI Pedestrians Moderate val	Deformable PV-RCNN
Vehicle Pose Estimation	KITTI	Ego-Net
Novel View Synthesis	KITTI Novel View Synthesis	Multi-view to Novel View
Unsupervised Object Detection	KITTI	CutLER
Egocentric Pose Estimation	Kitti Odometry	pc4consistentdepth
Visual Place Recognition	KITTI	None
Real-time Instance Segmentation	KITTI	CenterPoly
Depth Completion	KITTI	FusionDepth
Transfer Learning	KITTI Object Tracking Evaluation 2012	Physical Access
Class-agnostic Object Detection	KITTI	MDef-DETR
Object Proposal Generation	KITTI	MDef-DETR
3D Object Detection	KITTI Pedestrian Moderate	PiFeNet
Object Localization	KITTI Pedestrian Easy	Frustrum-PointPillars
Pose Estimation	KITTI 2015	GeoNet
Novel View Synthesis	KITTI	READ
Monocular Depth Estimation	KITTI Object Tracking Evaluation 2012	PackNet-SfM
Unsupervised Monocular Depth Estimation	KITTI Eigen Split Improved Ground Truth	DynamicDepth
Image to Point Cloud Registration	KITTI	CorrI2P
Birds Eye View Object Detection	KITTI Pedestrian Easy	PiFeNet
Birds Eye View Object Detection	KITTI Pedestrian Moderate	PiFeNet