The zip files below contain 41 original KITTI images and the corresponding manually semantically labelled data. The labelled data is in the form of a Matlab .mat file with each entry in the array corresponding to the class label.
Example images and corresponding labelled images
|Original KITTI Images||Matlab .mat Files with Semantic Labels|
|KITTI_Images_Part_1.zip and KITTI_Images_Part _2.zip||KITTI_Semantic_Labels.zip|
Each .mat file contains an array "S" and a 1x9 cell "names". The value of each element of S represents the class for that corresponding pixel, where the classes are given in "names". A value of 0 is represents an unknown class.
If you use this dataset, please cite the following paper:
B. Upcroft, C. McManus, W. Churchill, W. Maddern and P. Newman, Lighting Invariant Urban Street Classification, International Conference on Robotics and Automation, 2014
Please ask Ben Upcroft (firstname.lastname@example.org) if you have any questions.