Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | { | |
| "dataset_version": "1.0.0", | |
| "status": "released", | |
| "release_type": "self-contained", | |
| "source_data_commit": "d4ba9d7", | |
| "frame_base_seed": 20260712, | |
| "window_base_seed": 20260714, | |
| "window_length": 30, | |
| "camera_id": 2, | |
| "translation_unit": "centimetres", | |
| "euler_unit": "degrees", | |
| "euler_matrix_order": "Rz(yaw) @ Ry(pitch) @ Rx(roll)", | |
| "transform_convention": "column vectors: p_B = R_B_from_A @ p_A + t_B_from_A", | |
| "composition": "T_init = delta_cam @ T_gt @ inverse(delta_lidar)", | |
| "decalibration_target": "T_init @ inverse(T_gt)", | |
| "corrected_transform": "inverse(predicted_T_decal) @ T_init", | |
| "stereo_baseline": "frozen-v1 x-only P[0,3]/P[0,0]; not full K^-1 P[:,3]", | |
| "splits": { | |
| "train": [ | |
| "00", | |
| "01", | |
| "02", | |
| "04", | |
| "05", | |
| "06", | |
| "08" | |
| ], | |
| "validation": [ | |
| "07" | |
| ], | |
| "test": [ | |
| "09", | |
| "10" | |
| ] | |
| }, | |
| "source_train_includes_validation": true, | |
| "excluded_sequences": [ | |
| "03" | |
| ], | |
| "paper_alpha_test_drive_overlaps_training_sequence": "08", | |
| "stage5_frames": { | |
| "train": 18507, | |
| "validation": 1101, | |
| "test": 2792 | |
| }, | |
| "metrics": { | |
| "translation": "mean absolute error over axes and samples, cm", | |
| "rotation": "mean SO(3) geodesic angle, degrees" | |
| }, | |
| "frozen_native_distribution_matches_usual_relative": false, | |
| "published_unical_accuracy_reproduced": false, | |
| "relative_protocol_seed_rule": "torch.Generator seed = sample_seed modulo 2**63 (relative_seed=0)", | |
| "date_released": "2026-10-17" | |
| } | |