The bird's eye view benchmark consists of 7481 training images and 7518 test images as well as the corresponding point clouds, comprising a total of 80.256 labeled objects. For evaluation, we compute precision-recall curves. To rank the methods we compute average precision. We require that all methods use the same parameter set for all test pairs. Our development kit provides details about the data format as well as MATLAB / C++ utility functions for reading and writing the label files.
- Download left color images of object data set (12 GB)
- Download right color images, if you want to use stereo information (12 GB)
- Download the 3 temporally preceding frames (left color) (36 GB)
- Download the 3 temporally preceding frames (right color) (36 GB)
- Download Velodyne point clouds, if you want to use laser information (29 GB)
- Download camera calibration matrices of object data set (16 MB)
- Download training labels of object data set (5 MB)
- Download object development kit (1 MB) (including 3D object detection and bird's eye view evaluation code)
- Download pre-trained LSVM baseline models (5 MB) used in Joint 3D Estimation of Objects and Scene Layout (NIPS 2011). These models are referred to as LSVM-MDPM-sv (supervised version) and LSVM-MDPM-us (unsupervised version) in the tables below.
- Download reference detections (L-SVM) for training and test set (800 MB)
- Qianli Liao (NYU) has put together code to convert from KITTI to PASCAL VOC file format (documentation included, requires Emacs).
- Karl Rosaen (U.Mich) has released code to convert between KITTI, KITTI tracking, Pascal VOC, Udacity, CrowdAI and AUTTI formats.
- We thank David Stutz and Bo Li for developing the 3D object detection benchmark.
We evaluate bird's eye view detection performance using the PASCAL criteria also used for 2D object detection. Far objects are thus filtered based on their bounding box height in the image plane. As only objects also appearing on the image plane are labeled, objects in don't car areas do not count as false positives. We note that the evaluation does not take care of ignoring detections that are not visible on the image plane — these detections might give rise to false positives. For cars we require a bounding box overlap of 70% in bird's eye view, while for pedestrians and cyclists we require an overlap of 50%. Difficulties are defined as follows:
- Easy: Min. bounding box height: 40 Px, Max. occlusion level: Fully visible, Max. truncation: 15 %
- Moderate: Min. bounding box height: 25 Px, Max. occlusion level: Partly occluded, Max. truncation: 30 %
- Hard: Min. bounding box height: 25 Px, Max. occlusion level: Difficult to see, Max. truncation: 50 %
All methods are ranked based on the moderately difficult results.
Stereo: Method uses left and right (stereo) images
Flow: Method uses optical flow (2 temporally adjacent images)
Multiview: Method uses more than 2 temporally adjacent images
Laser Points: Method uses point clouds from Velodyne laser scanner
Additional training data: Use of additional data sources for training (see details)
Car
Table as LaTeX | Only published Methods
Pedestrian
Table as LaTeX | Only published Methods
Cyclist
Table as LaTeX | Only published Methods
