Virtual KITTI 2 Dataset

Virtual KITTI 2 is an updated version of the well-known Virtual KITTI dataset which consists of 5 sequence clones from the KITTI tracking benchmark. In addition, the dataset provides different variants of these sequences such as modified weather conditions (e.g. fog, rain) or modified camera configurations (e.g. rotated by 15◦). For each sequence we provide multiple sets of images containing RGB, depth, class segmentation, instance segmentation, flow, and scene flow data. Camera parameters and poses as well as vehicle locations are available as well. In order to showcase some of the dataset’s capabilities, we ran multiple relevant experiments using state-of-the-art algorithms from the field of autonomous driving. The dataset is available for download at https://europe.naverlabs.com/Research/Computer-Vision/Proxy-Virtual-Worlds.

虚拟KITTI 2是著名的虚拟KITTI数据集的更新版本，该数据集由来自KITTI跟踪基准的5个序列克隆组成。此外，该数据集还提供了这些序列的不同变体，例如修改后的天气条件（例如，雾、雨）或修改后的相机配置（例如，旋转15°）。对于每个序列，我们提供了包含RGB、深度、类别分割、实例分割、光流和场景光流数据的多个图像集。同时，相机参数和姿态以及车辆位置信息也一并提供。为了展示该数据集的部分功能，我们使用自动驾驶领域的最先进算法进行了多项相关实验。该数据集可通过以下链接下载：https://europe.naverlabs.com/Research/Computer-Vision/Proxy-Virtual-Worlds。