Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | # KITTI Odometry sequence -> raw date/drive/frame-range mapping. | |
| # | |
| # Verified verbatim against the official KITTI odometry devkit's | |
| # `devkit/readme.txt` ("Nr. / Sequence name / Start / End" table), fetched | |
| # directly (not recalled from memory) on 2026-07-12 from a devkit mirror | |
| # (github.com/alexkreimer/odometry, devkit/readme.txt), and cross-checked | |
| # against a second independent source. `frame_count = end - start + 1`. | |
| # | |
| # `start`/`end` are 0-based indices into the raw drive's image_02 / | |
| # velodyne_points file sequence (e.g. sequence 08 does NOT start at raw | |
| # frame 0 -- it shares drive 0028 with the tail of what would otherwise be | |
| # an even longer capture). `frame_count` is the number of frames belonging | |
| # to the odometry sequence, which can be smaller than the raw drive's total | |
| # frame count (the raw drive may extend beyond the packaged benchmark | |
| # sub-range). | |
| # | |
| # Sequence 03 (2011_09_26_drive_0067) is EXCLUDED from generation (available: | |
| # false): its raw drive is not hosted on KITTI's official S3 mirror -- | |
| # confirmed directly (HTTP 404 on | |
| # https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0067/2011_09_26_drive_0067_sync.zip | |
| # on 2026-07-12) -- and this is a long-standing, unresolved, community-wide | |
| # gap, not something specific to this project: see | |
| # github.com/alexkreimer/odometry/issues/1 (open since 2018, no working | |
| # alternate source ever posted). We deliberately do not point a published | |
| # benchmark at an unverified third-party copy of this drive. Its mapping row | |
| # is kept below for reference/completeness; `kitti-c2l generate` skips it by | |
| # default (see sequence_mapping.AVAILABLE_SEQUENCES). | |
| # | |
| # split: field is this dataset's own assignment (00-08 train, 09-10 test), | |
| # the field-standard protocol used by RegNet/CalibNet/LCCNet/PseudoCal/ | |
| # UniCal/LiREC-Net -- not part of the raw KITTI devkit mapping itself. | |
| sequences: | |
| "00": {date: "2011_10_03", drive: "0027", start: 0, end: 4540, frame_count: 4541, split: train, available: true} | |
| "01": {date: "2011_10_03", drive: "0042", start: 0, end: 1100, frame_count: 1101, split: train, available: true} | |
| "02": {date: "2011_10_03", drive: "0034", start: 0, end: 4660, frame_count: 4661, split: train, available: true} | |
| "03": {date: "2011_09_26", drive: "0067", start: 0, end: 800, frame_count: 801, split: train, available: false} | |
| "04": {date: "2011_09_30", drive: "0016", start: 0, end: 270, frame_count: 271, split: train, available: true} | |
| "05": {date: "2011_09_30", drive: "0018", start: 0, end: 2760, frame_count: 2761, split: train, available: true} | |
| "06": {date: "2011_09_30", drive: "0020", start: 0, end: 1100, frame_count: 1101, split: train, available: true} | |
| "07": {date: "2011_09_30", drive: "0027", start: 0, end: 1100, frame_count: 1101, split: train, available: true} | |
| "08": {date: "2011_09_30", drive: "0028", start: 1100, end: 5170, frame_count: 4071, split: train, available: true} | |
| "09": {date: "2011_09_30", drive: "0033", start: 0, end: 1590, frame_count: 1591, split: test, available: true} | |
| "10": {date: "2011_09_30", drive: "0034", start: 0, end: 1200, frame_count: 1201, split: test, available: true} | |