KITTI 360
Overview
Easily import your point clouds with annotations in the KITTI-360 format. This converter is designed for the point cloud episodes modality. For the point cloud modality, please refer to KITTI-3D.
The original KITTI-360 is a large-scale annotated dataset recorded in the suburbs of Karlsruhe, Germany, covering 73.7 km of driving with over 320k images and 100k laser scans. It provides both 3D point clouds and 2D images with dense semantic and instance annotations across 19 classes, and maintains consistent instance IDs over time. The data, captured with a 360° sensing setup including fisheye and perspective cameras, a stereo camera, Velodyne, and SICK laser scanners, is precisely geolocalized using an IMU/GPS system.
Format description
Supported point cloud format: .bin
With annotations: yes
Supported annotation format: .xml
Data structure: Information is provided below.
Input files structure
Example data: download ⬇️
Format directory structure:
📦KITTI-360
├──📂calibration
│ ├──📄calib_cam_to_velo.txt
│ ├──📄perspective.txt
│ └──📄...
├──📂data_2d_raw
│ ├──📂2013_05_28_drive_{seq:04}_sync
│ │ ├──📂image_{00|01}
│ │ │ ├──📂data_rect
│ │ │ │ ├──🏞️{frame:010}.png
│ │ │ │ └──🏞️...
│ │ ├──📂image_{02|03}
│ │ │ └──📂...
├──📂data_3d_raw
│ ├──📂2013_05_28_drive_{seq:04}_sync
│ │ ├──📂velodyne_points
│ │ │ ├──📂data
│ │ │ │ ├──📄{frame:010}.bin
│ │ │ │ └──📄...
├──📂data_3d_bboxes
│ ├──📂train
│ │ ├──📄2013_05_28_drive_{seq:04}_sync.xml
│ │ └──📄...
├──📂data_poses
│ ├──📂2013_05_28_drive_{seq:04}_sync
│ │ ├──📄cam0_to_world.txt
└── └── └──📄...Useful links
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