"Corrected KITTI Odometry GNSS Trajectories (Sequences 00\/02\/05\/08\/09) "
收藏DataCite Commons2026-04-16 更新2026-05-03 收录
下载链接：
https://ieee-dataport.org/documents/corrected-kitti-odometry-gnss-trajectories-sequences-0002050809
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资源简介：
"This dataset provides corrected GPS ground-truth trajectories for five sequences (00, 02, 05, 08, 09) of the KITTI odometry benchmark. The original KITTI GNSS\/INS annotations were re-aligned to satellite imagery using a non-rigid Radial Basis Function (thin-plate spline) warp, as described in our IEEE TGRS submission \"Geo-Registration of Terrestrial LiDAR Point Clouds with Satellite Images without GNSS\".After correction, the mean planimetric error against Google Maps references is reduced from 2.09\u20134.25 m to 0.47\u20131.07 m across the five sequences. Independent validation against OSM, Mapbox, and HERE road centrelines confirms consistent improvement.Contents: 5 plain-text files, 17,629 corrected GPS samples in total.Format: CSV (index, frame_id, latitude, longitude) in WGS 84 (EPSG:4326).Intended use: trajectory ground-truth refinement, GNSS-denied localization benchmarking, LiDAR-to-map alignment evaluation."
提供机构：
IEEE DataPort
创建时间：
2026-04-16
