KITTI-360 Dataset

We present a large-scale dataset that contains rich sensory information and full annotations. We recorded several suburbs of Karlsruhe, Germany, corresponding to over 320k images and 100k laser scans in a driving distance of 73.7km. We annotate both static and dynamic 3D scene elements with rough bounding primitives and transfer this information into the image domain, resulting in dense semantic & instance annotations for both 3D point clouds and 2D images.

• Driving distance: 73.7 km, frames: 4x83,000
• All frames accurately geolocalized (OpenStreetMap)
• Semantic label definition consistent with Cityscapes, 19 classes for evaluation
• Each instance assigned with a consistent instance ID across all frames

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