The KITTI dataset

[wangyujiewj]

Thank you for sharing the code of DeepI2P. I tried to run the model on the KITTI dataset, but I found that the input of the model was from the preprocessed dataset rather than the official odometry data set. Could you share the preprocessed KITTI dataset? Thank you very much.

[lijx10]

The KITTI dataset is too larged for sharing. However, we provide the codes to convert standard kitti dataset into the one we used.
https://github.com/lijx10/DeepI2P/blob/main/data/kitti/kitti_pc_bin_to_npy_with_downsample_sn.py
The pre-processing consists of mainly surface normal (sn) estimation, and voxel grid downsampling.

[rann1018]

Hi, @lijx10
Can you provide the pretrained model of KITTI dataset similar to Robotcar dataset?
Thanks a lot for your help.

[lijx10]

I checked my disk and realized that I lost the KITTI model. Note that the model doesn't perform well on KITTI dataset, as reported in the paper.

[VincentWPJ]

The KITTI dataset is too larged for sharing. However, we provide the codes to convert standard kitti dataset into the one we used. https://github.com/lijx10/DeepI2P/blob/main/data/kitti/kitti_pc_bin_to_npy_with_downsample_sn.py The pre-processing consists of mainly surface normal (sn) estimation, and voxel grid downsampling.

Hi, thanks for your open-sourced work.
I have converted the official KITTI images and LiDAR data to .npy form by you scripts, but I can't run the code successfully because I lack the pose related files. I only find ten .txt files in KITTI offical website and no .npz files. Can you tell me how can I get ['pose']? Thank you!

[Collapsarva]

@VincentWPJ I have encountered the same problem as you. Have you resolved it?

[wangwang324]

@VincentWPJ Hello, can you share the processed dataset ？I have a problem with preprocessing

[daruiboom]

Teacher Li, thank you very much for your outstanding contribution. I am a graduate student with the same research direction as you. Can you share the structure of the data set before processing and the structure of the data set after preprocessing? Thank you very much.

[daruiboom]

您好，您可以共享处理后的数据集吗？我在预处理方面有问题

Hello, do you know which part of Kitti the author used as the original dataset?