1. Reference materials

kitti data set official website
kitti data set introduction, Baidu network disk sharing kitti-object, kitti-tracking full set of data sets autonomous driving
KITTI data set (concept version)

2. KITTI directory structure

E:\DATASETS\KITTI
|   
\---2011_09_26
    \---2011_09_26_drive_0001_sync
        +---image_00  # left_image左视图（灰度图）
        |   |   timestamps.txt
        |   |   
        |   \---data
        |           0000000000.png
        |           0000000001.png
        |           
        +---image_01  # right_image右视图（灰度图）
        |   |   timestamps.txt
        |   |   
        |   \---data
        |           0000000000.png
        |           0000000001.png
        |           
        +---image_02  # left_image左视图（彩色图）
        |   |   timestamps.txt
        |   |   
        |   \---data
        |           0000000000.png
        |           0000000001.png
        |           
        +---image_03  # right_image右视图（彩色图）
        |   |   timestamps.txt
        |   |   
        |   \---data
        |           0000000000.png
        |           0000000001.png
        |           
        +---oxts
        |   |   dataformat.txt
        |   |   timestamps.txt
        |   |   
        |   \---data
        |           0000000000.txt
        |           0000000001.txt
        |           
        \---velodyne_points
            |   timestamps.txt
            |   timestamps_end.txt
            |   timestamps_start.txt
            |   
            \---data
                    0000000000.bin
                    0000000001.bin

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3. Download the KITTI dataset

1. Download from KITTI official website

To download KITTI from the official website,
you need to log in to the KITTI account first, and prepare the edu endingEducation mailboxRegister for a KITTI account, and then log in to download. Taking the 3D multi-target tracking (tracking) dataset as an example, the download process is as follows:

3D multi-target tracking (tracking)

important: For multi-target tracking tasks, if it is binocular, you need to download the pictures of left-camera and right-camera; if it is monocular, you need to download the picture of left-camera.

Download left color images of tracking data set (15 GB)：
data_tracking_image_2.zip
Download right color images, if you want to use stereo information (15 GB)：
data_tracking_image_3.zip
Download Velodyne point clouds, if you want to use laser information (35 GB)：
data_tracking_velodyne.zip
Download GPS/IMU data, if you want to use map information (8 MB)：

data_tracking_oxts.zip
Download camera calibration matrices of tracking data set (1 MB)：data_tracking_calib.zip
data_tracking_oxts.zip
Download training labels of tracking data set (9 MB)：
data_tracking_label_2.zip

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2. Baidu network disk download

3. Google Colab download

If the network is unstable and the download on the official website is often disconnected, you can choose google Colab to transfer the download.

Colab tutorial, please refer to the blog: google colab tutorial

The overall process is as follows:

Find the dataset download link. Find the download link on KITTI official website, for example, the download link is:
https://s3.eu-central-1.amazonaws.com/avg-kitti/data_scene_flow.zip

Use the wget command to download in Colab.

!wget -c https://s3.eu-central-1.amazonaws.com/avg-kitti/data_scene_flow.zip

# 参数解释：-c：表示支持断点续传。

--2021-08-19 02:37:43--  https://s3.eu-central-1.amazonaws.com/avg-kitti/data_scene_flow.zip
Resolving s3.eu-central-1.amazonaws.com (s3.eu-central-1.amazonaws.com)... 52.219.47.203
Connecting to s3.eu-central-1.amazonaws.com (s3.eu-central-1.amazonaws.com)|52.219.47.203|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: 1681488619 (1.6G) [application/zip]
Saving to: ‘data_scene_flow.zip’

data_scene_flow.zip 100%[===================>]   1.57G  20.6MB/s    in 82s     

2021-08-19 02:39:06 (19.6 MB/s) - ‘data_scene_flow.zip’ saved [1681488619/1681488619]