PREPARE_DATA.md

Waymo

• We download the dataset following the instruction of NeuralSim.

KITTI

• Please download raw_data and from KITTI website.
• We use sync dataset (10 Hz IMU), we upload the processed IMU data on huggingface.
• Download the data and list them as below:

  ├── metadata
  ├── image_00
  │   └── data
  ├── image_01
  │   └── data
  ├── image_02
  │   ├── data
  ├── image_03
  │   └── data
  └── oxts
      └── data
  

KITTI360

• Please download raw_data and from KITTI360 website.
• We use unsync dataset (100 Hz IMU), c2i is calibrated using openvins, The c2i and intrinsic are same (You can find them in our configs), we upload the processed IMU data on huggingface and put it to metadata.
• Download the data and list them as below:

  ├── metadata
  ├── image_00
  │   └── data_rgb
  ├── image_01
  │   └── data_rgb
  └── oxts
      └── data
  

Self-Collected

• We will upload the data we collected ourselves after we have blurred out faces and license plates.