KITTI Odometry Benchmark

The odometry benchmark consists of 22 stereo sequences, saved in loss less png format: We provide 11 sequences (00-10) with ground truth trajectories for training and 11 sequences (11-21) without ground truth for evaluation. For this benchmark you may provide results using monocular or stereo visual odometry, laser-based SLAM or algorithms that combine visual and LIDAR information. The only restriction we impose is that your method is fully automatic (e.g., no manual loop-closure tagging is allowed) and that the same parameter set is used for all sequences. A development kit provides details about the data format. More details are available at: https://www.cvlibs.net/datasets/kitti/eval_odometry.php.