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Can you tell me how to use KITTI Dataset?

loam_velodyne

asked 2017-05-12 04:15:03 -0500

lowme
16 ●6 ●9 ●7

I didn't find any rosbag or pcap dataset for velodyne in KITTI's website.I just found png dataset for a paper of Velodyne SLAM.Can you tell me where the dataset you have used.

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add:Or how can i use the png dataset(https://www.mrt.kit.edu/z/publ/download/velodyneslam/dataset.html)?

lowme ( 2017-05-12 04:17:37 -0500 )edit

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answered 2017-05-12 04:31:05 -0500

rbbg
1823 ●6 ●18 ●26

It seems the kitti-player package can help you. There have been several questions asked regarding this topic, so there might be some additional info in these questions as well.

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answered 2019-04-05 09:38:10 -0500

nobinov
66 ●4 ●6 ●9

You can use kitti2bag to convert KITTI dataset to rosbag, which currently support raw data and odometry data (for grayscale and rgb image), however it's still did not support velodyne dataset for odometry dataset. you can use raw dataset instead since it have a mapping between raw and odometry dataset.

hope it helps!