Transcription of Are we ready for Autonomous Driving? The KITTI Vision ...
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Are we ready for Autonomous Driving? The KITTI Vision ...
Are we ready for Autonomous Driving? The KITTI Vision Benchmark SuiteAndreas Geiger and Philip LenzKarlsruhe Institute of UrtasunToyota Technological Institute at visual recognition systems are still rarely em-ployed in robotics applications. Perhaps one of the mainreasons for this is the lack of demanding benchmarks thatmimic such scenarios. In this paper, we take advantageof our Autonomous driving platform to develop novel chal-lenging benchmarks for the tasks of stereo, optical flow, vi-sual odometry / SLAM and 3D object detection. Our record-ing platform is equipped with four high resolution videocameras, a Velodyne laser scanner and a state-of-the-artlocalization system.
tem of the laser scanner, the localization unit and the refer-ence camera. While our Camera-to-Camera and GPS/IMU-to-Velodyne registration methods are fully automatic, the Velodyne-to-Camera calibration requires the user to manu-ally select a small number of correspondences between the laserandthecameraimages. Thiswasnecessaryasexisting
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