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Vision meets Robotics: The KITTI Dataset

calib_cam_to_cam.txt为相机i到0号相机的标定参数。

calib_time: 09-Jan-2012 13:57:47
corner_dist: 9.950000e-02
S_00: 1.392000e+03 5.120000e+02
K_00: 9.842439e+02 0.000000e+00 6.900000e+02 0.000000e+00 9.808141e+02 2.331966e+02 0.000000e+00 0.000000e+00 1.000000e+00
D_00: -3.728755e-01 2.037299e-01 2.219027e-03 1.383707e-03 -7.233722e-02
R_00: 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00
T_00: 2.573699e-16 -1.059758e-16 1.614870e-16
S_rect_00: 1.242000e+03 3.750000e+02
R_rect_00: 9.999239e-01 9.837760e-03 -7.445048e-03 -9.869795e-03 9.999421e-01 -4.278459e-03 7.402527e-03 4.351614e-03 9.999631e-01
P_rect_00: 7.215377e+02 0.000000e+00 6.095593e+02 0.000000e+00 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
S_01: 1.392000e+03 5.120000e+02
K_01: 9.895267e+02 0.000000e+00 7.020000e+02 0.000000e+00 9.878386e+02 2.455590e+02 0.000000e+00 0.000000e+00 1.000000e+00
D_01: -3.644661e-01 1.790019e-01 1.148107e-03 -6.298563e-04 -5.314062e-02
R_01: 9.993513e-01 1.860866e-02 -3.083487e-02 -1.887662e-02 9.997863e-01 -8.421873e-03 3.067156e-02 8.998467e-03 9.994890e-01
T_01: -5.370000e-01 4.822061e-03 -1.252488e-02
S_rect_01: 1.242000e+03 3.750000e+02
R_rect_01: 9.996878e-01 -8.976826e-03 2.331651e-02 8.876121e-03 9.999508e-01 4.418952e-03 -2.335503e-02 -4.210612e-03 9.997184e-01
P_rect_01: 7.215377e+02 0.000000e+00 6.095593e+02 -3.875744e+02 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
S_02: 1.392000e+03 5.120000e+02
K_02: 9.597910e+02 0.000000e+00 6.960217e+02 0.000000e+00 9.569251e+02 2.241806e+02 0.000000e+00 0.000000e+00 1.000000e+00
D_02: -3.691481e-01 1.968681e-01 1.353473e-03 5.677587e-04 -6.770705e-02
R_02: 9.999758e-01 -5.267463e-03 -4.552439e-03 5.251945e-03 9.999804e-01 -3.413835e-03 4.570332e-03 3.389843e-03 9.999838e-01
T_02: 5.956621e-02 2.900141e-04 2.577209e-03
S_rect_02: 1.242000e+03 3.750000e+02
R_rect_02: 9.998817e-01 1.511453e-02 -2.841595e-03 -1.511724e-02 9.998853e-01 -9.338510e-04 2.827154e-03 9.766976e-04 9.999955e-01
P_rect_02: 7.215377e+02 0.000000e+00 6.095593e+02 4.485728e+01 0.000000e+00 7.215377e+02 1.728540e+02 2.163791e-01 0.000000e+00 0.000000e+00 1.000000e+00 2.745884e-03
S_03: 1.392000e+03 5.120000e+02
K_03: 9.037596e+02 0.000000e+00 6.957519e+02 0.000000e+00 9.019653e+02 2.242509e+02 0.000000e+00 0.000000e+00 1.000000e+00
D_03: -3.639558e-01 1.788651e-01 6.029694e-04 -3.922424e-04 -5.382460e-02
R_03: 9.995599e-01 1.699522e-02 -2.431313e-02 -1.704422e-02 9.998531e-01 -1.809756e-03 2.427880e-02 2.223358e-03 9.997028e-01
T_03: -4.731050e-01 5.551470e-03 -5.250882e-03
S_rect_03: 1.242000e+03 3.750000e+02
R_rect_03: 9.998321e-01 -7.193136e-03 1.685599e-02 7.232804e-03 9.999712e-01 -2.293585e-03 -1.683901e-02 2.415116e-03 9.998553e-01
P_rect_03: 7.215377e+02 0.000000e+00 6.095593e+02 -3.395242e+02 0.000000e+00 7.215377e+02 1.728540e+02 2.199936e+00 0.000000e+00 0.000000e+00 1.000000e+00 2.729905e-03

• S_i: 原始图像尺寸，宽度*高度；
• K_i: 第i号相机的内参；
• D_i:畸变系数；
• R_i: 从0号相机到i号相机的旋转矩阵；
• T_i: 从0号相机到i号相机的平移向量；
• S_rect_i: 校正后的图像尺寸；
• R_rect_i：作用同R_i，校正后的旋转矩阵；
• P_rect_i:校正后的投影矩阵，维度为3*4。

calib_velo_to_cam.txt为激光雷达到0号相机之间的标定参数。

calib_time: 15-Mar-2012 11:37:16
R: 7.533745e-03 -9.999714e-01 -6.166020e-04 1.480249e-02 7.280733e-04 -9.998902e-01 9.998621e-01 7.523790e-03 1.480755e-02
T: -4.069766e-03 -7.631618e-02 -2.717806e-01
delta_f: 0.000000e+00 0.000000e+00
delta_c: 0.000000e+00 0.000000e+00

车体信息

存在oxts文件夹中，每张图片对应一个txt文件。每个文件包含30个值，分别是：

1. lat: latitude of the oxts-unit (deg)
2. lon: longitude of the oxts-unit (deg)
3. alt: altitude of the oxts-unit (m)
4. roll: roll angle (rad), 0 = level, positive = left side up (-pi…pi)
5. pitch: pitch angle (rad), 0 = level, positive = front down (-pi/2…pi/2)
6. yaw: heading (rad), 0 = east, positive = counter clockwise (-pi…pi)
7. vn: velocity towards north (m/s)
8. ve: velocity towards east (m/s)
9. vf: forward velocity, i.e. parallel to earth-surface (m/s)
10. vl: leftward velocity, i.e. parallel to earth-surface (m/s)
11. vu: upward velocity, i.e. perpendicular to earth-surface (m/s)
12. ax: acceleration in x, i.e. in direction of vehicle front (m/s^2)
13. ay: acceleration in y, i.e. in direction of vehicle left (m/s^2)
14. az: acceleration in z, i.e. in direction of vehicle top (m/s^2)
15. af: forward acceleration (m/s^2)
16. al: leftward acceleration (m/s^2)
17. au: upward acceleration (m/s^2)
18. wx: angular rate around x (rad/s)
19. wy: angular rate around y (rad/s)
20. wz: angular rate around z (rad/s)
21. wf: angular rate around forward axis (rad/s)
22. wl: angular rate around leftward axis (rad/s)
23. wu: angular rate around upward axis (rad/s)
24. posacc: velocity accuracy (north/east in m)
25. velacc: velocity accuracy (north/east in m/s)
26. navstat: navigation status
27. numsats: number of satellites tracked by primary GPS receiver
28. posmode: position mode of primary GPS receiver
29. velmode: velocity mode of primary GPS receiver
30. orimode: orientation mode of primary GPS receiver