sfMLearning视觉无人驾驶项目 KITTI数据集结构与可视化

RawDATA原始网站
http://www.cvlibs.net/datasets/kitti/raw_data.php

1：数据采集平台

如图-1所示，KITTI数据集的数据采集平台装配有2个灰度摄像机，2个彩色摄像机，一个Velodyne 64线3D激光雷达，4个光学镜头，以及1个GPS导航系统。具体的传感器参数如下[2] ：

2 × PointGray Flea2 grayscale cameras (FL2-14S3M-C), 1.4 Megapixels, 1/2” Sony ICX267 CCD, global shutter
2 × PointGray Flea2 color cameras (FL2-14S3C-C), 1.4 Megapixels, 1/2” Sony ICX267 CCD, global shutter
4 × Edmund Optics lenses, 4mm, opening angle ∼ 90◦, vertical opening angle of region of interest (ROI) ∼ 35◦
1 × Velodyne HDL-64E rotating 3D laser scanner, 10 Hz, 64 beams, 0.09 degree angular resolution, 2 cm distance accuracy, collecting ∼ 1.3 million points/second, field of view: 360◦ horizontal, 26.8◦ vertical, range: 120 m
1 × OXTS RT3003 inertial and GPS navigation system, 6 axis, 100 Hz, L1/L2 RTK, resolution: 0.02m / 0.1◦

如图-2所示为传感器的配置平面图。为了生成双目立体图像，相同类型的摄像头相距54cm安装。由于彩色摄像机的分辨率和对比度不够好，所以还使用了两个立体灰度摄像机，它和彩色摄像机相距6cm安装。为了方便传感器数据标定，规定坐标系方向如下[2] ：
• Camera: x = right, y = down, z = forward
• Velodyne: x = forward, y = left, z = up
• GPS/IMU: x = forward, y = left, z = up

2.Dataset详述

图-3展示了KITTI数据集的典型样本，分为 ’Road’, ’City’, ’Residential’, ’Campus’ 和’Person’五类。原始数据采集于2011年的5天，共有180GB数据。 其中三天进行了重新标定：

- S_rect_xx: 1x2 size of image xx after rectification校正后的图片尺寸这里我们下载的部分是同步+矫正之后的图片，calibration的信息是传感器信息融合转换信息使用。tracklets是跟踪三维物体

http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_calib.zip

http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0001_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0002_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0005_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0009_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0011_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0013_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0014_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0015_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0017_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0018_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0019_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0020_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0022_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0023_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0027_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0028_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0029_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0032_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0035_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0036_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0039_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0046_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0048_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0051_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0052_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0056_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0057_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0059_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0060_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0061_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0064_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0070_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0079_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0084_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0086_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0087_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0091_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0093_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0095_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0096_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0101_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0104_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0106_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0113_sync.zip
http://datadownload.f3322.net:666/share/kitti/raw_data/2011_09_26_drive_0117_sync.zip