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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 ImagesMatlab .mat Files with Semantic Labels
KITTI_Images_Part_1.zip and KITTI_Images_Part _2.zipKITTI_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 (ben.upcroft@qut.edu.au) if you have any questions.

 

 

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