KITTI

• Format specification for KITTI detection

• Format specification for KITTI segmentation

• supported annotations:

  • Rectangles (detection task)
  • Polygon (segmentation task)

• supported attributes:

  • occluded (both UI option and a separate attribute). Indicates that a significant portion of the object within the bounding box is occluded by another object
  • truncated supported only for rectangles (should be defined for labels as checkbox -es). Indicates that the bounding box specified for the object does not correspond to the full extent of the object
  • ‘is_crowd’ supported only for polygons (should be defined for labels as checkbox -es). Indicates that the annotation covers multiple instances of the same class

KITTI annotations export

Downloaded file: a zip archive of the following structure:

└─ annotations.zip/
    ├── label_colors.txt # list of pairs r g b label_name
    ├── labels.txt # list of labels
    └── default/
        ├── label_2/ # left color camera label files
        │   ├── <image_name_1>.txt
        │   ├── <image_name_2>.txt
        │   └── ...
        ├── instance/ # instance segmentation masks
        │   ├── <image_name_1>.png
        │   ├── <image_name_2>.png
        │   └── ...
        ├── semantic/ # semantic segmentation masks (labels are encoded by its id)
        │   ├── <image_name_1>.png
        │   ├── <image_name_2>.png
        │   └── ...
        └── semantic_rgb/ # semantic segmentation masks (labels are encoded by its color)
            ├── <image_name_1>.png
            ├── <image_name_2>.png
            └── ...

KITTI annotations import

You can upload KITTI annotations in two ways: rectangles for the detection task and masks for the segmentation task.

For detection tasks the uploading archive should have the following structure:

└─ annotations.zip/
    ├── labels.txt # optional, labels list for non-original detection labels
    └── <subset_name>/
        ├── label_2/ # left color camera label files
        │   ├── <image_name_1>.txt
        │   ├── <image_name_2>.txt
        │   └── ...

For segmentation tasks the uploading archive should have the following structure:

└─ annotations.zip/
    ├── label_colors.txt # optional, color map for non-original segmentation labels
    └── <subset_name>/
        ├── instance/ # instance segmentation masks
        │   ├── <image_name_1>.png
        │   ├── <image_name_2>.png
        │   └── ...
        ├── semantic/ # optional, semantic segmentation masks (labels are encoded by its id)
        │   ├── <image_name_1>.png
        │   ├── <image_name_2>.png
        │   └── ...
        └── semantic_rgb/ # optional, semantic segmentation masks (labels are encoded by its color)
            ├── <image_name_1>.png
            ├── <image_name_2>.png
            └── ...

All annotation files and masks should have structures that are described in the original format specification.