The KITTI Vision Benchmark Suite

The depth completion and depth prediction evaluation are related to our work published in Sparsity Invariant CNNs (THREEDV 2017). It contains over 93 thousand depth maps with corresponding raw LiDaR scans and RGB images, aligned with the "raw data" of the KITTI dataset. Given the large amount of training data, this dataset shall allow a training of complex deep learning models for the tasks of depth completion and single image depth prediction. Also, we provide manually selected images with unpublished depth maps to serve as a benchmark for those two challenging tasks. Make sure to unzip annotated depth maps and raw LiDaR scans into the same directory so that all corresponding files end up in the same folder structure.