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24 lines
1.4 KiB
24 lines
1.4 KiB
KITTI Vision Benchmark |
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.. ocv:class:: SLAM_kitti |
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Implements loading dataset: |
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_`"KITTI Vision Benchmark"`: http://www.cvlibs.net/datasets/kitti/eval_odometry.php |
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.. note:: Usage |
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1. From link above download "Odometry" dataset files: data_odometry_gray\\data_odometry_color\\data_odometry_velodyne\\data_odometry_poses\\data_odometry_calib.zip. |
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2. Unpack data_odometry_poses.zip, it creates folder dataset/poses/. After that unpack data_odometry_gray.zip, data_odometry_color.zip, data_odometry_velodyne.zip. Folder dataset/sequences/ will be created with folders 00/..21/. Each of these folders will contain: image_0/, image_1/, image_2/, image_3/, velodyne/ and files calib.txt & times.txt. These two last files will be replaced after unpacking data_odometry_calib.zip at the end. |
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3. To load data run: ./opencv/build/bin/example_datasets_slam_kitti -p=/home/user/path_to_unpacked_folder/dataset/ |
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**References:** |
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.. [Geiger2012CVPR] Andreas Geiger and Philip Lenz and Raquel Urtasun. Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite. CVPR, 2012 |
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.. [Geiger2013IJRR] Andreas Geiger and Philip Lenz and Christoph Stiller and Raquel Urtasun. Vision meets Robotics: The KITTI Dataset. IJRR, 2013 |
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.. [Fritsch2013ITSC] Jannik Fritsch and Tobias Kuehnl and Andreas Geiger. A New Performance Measure and Evaluation Benchmark for Road Detection Algorithms. ITSC, 2013 |
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