Upstream provenance
Dataset recordings and calibration derive from the KITTI Vision Benchmark Suite (Geiger et al., CVPR 2012 / IJRR 2013). The metadata is distributed under CC BY-NC-SA 3.0. The self-contained Hub release includes original images and point clouds under these same terms; the optional lightweight archive omits sensor payloads. See LICENSE-DATA.
The optional model package is based on the UniCal reimplementation at
https://github.com/mcocheteux/unical-plus, whose declared license is CC BY-NC 4.0.
Its training initialized the encoder from apple/mobilevit-small, originally
released by Sachin Mehta and Mohammad Rastegari (MobileViT, ICLR 2022) and
pretrained on ImageNet-1k. The Hugging Face card specifies the Apple sample code
license, not Apache-2.0:
https://huggingface.co/apple/mobilevit-small
The upstream Apple license is retained as APPLE-MOBILEVIT-LICENSE.txt in the baseline package (release/v1/APPLE-MOBILEVIT-LICENSE.txt in the metadata/source package). Source: https://raw.githubusercontent.com/apple/ml-cvnets/main/LICENSE Retrieved 2026-10-17. Attribution and notices are preserved; the baseline package's CC BY-NC 4.0 notice does not replace upstream subcomponent terms. Neither Apple nor KITTI endorses this release.
The mirrored UniCal assessment (docs/ASSESSMENT.md and
release/v1/assessment_results.json) comes from unical-plus commit
2550c6dbab40d48f64bc260f03bf5e69d5bc5452 and retains its CC BY-NC 4.0 terms.
That license is included at release/v1/UNICAL-LICENSE.txt in the metadata/source
package and as LICENSE in the separate baseline package. The MIT code license
does not replace these assessment or upstream component licenses.
The v1.1 migration evaluation under release/v1.1.0/baseline_evaluation/
uses those unchanged UniCal checkpoints and retains CC BY-NC 4.0 for the
evaluation records. Their hashes identify the original model artifacts.
Original KITTI calibration text files and derived reference matrices under
release/v1.1.0/ retain KITTI's CC BY-NC-SA 3.0 terms.