Voxel51/kitscenes-multimodal

KITScenes Multimodal — FiftyOne Dataset

A FiftyOne build of KITScenes Multimodal (KIT-MRT), a high-fidelity European urban autonomous-driving dataset. Each frame is a synchronized capture from a full robotaxi sensor suite — nine global-shutter cameras giving 360° coverage, seven long-range lidars, and three 4D imaging radars — paired with production-grade Lanelet2 HD-map labels, projected lidar depth, the future ego path, and image instance predictions.

This build packages those captures as a grouped FiftyOne dataset so every sensor for a given moment lives in one group, and the 3D lidar/radar point cloud sits alongside the camera images. The card below describes exactly what is in the dataset and how it is organized.

This is a FiftyOne dataset with 680 samples.

Installation

If you haven't already, install FiftyOne:

pip install -U fiftyone

Usage

import fiftyone as fo
from fiftyone.utils.huggingface import load_from_hub

# Load the dataset
# Note: other available arguments include 'max_samples', etc
dataset = load_from_hub("Voxel51/kitscenes-multimodal")

# Launch the App
session = fo.launch_app(dataset)

At a glance

Dataset name	kitscenes-multimodal
Media type	group (grouped dataset)
Samples	6,800
Frames (groups)	680
Scenes	4 (validation split)
Frames per scene	100 / 100 / 200 / 280
Group slices	9 cameras + 1 fused 3D lidar slice
Capture rate	10 Hz
Region	Frankfurt, Germany (European urban)
License	CC-BY-NC-4.0

A group corresponds to one timestamped frame and holds 10 samples: the 9 camera images plus the fused 3D point cloud. With 680 groups that gives 6,120 image samples + 680 3D samples = 6,800 total.

Dataset sources

• Curated by: the KITScenes team at the Institute of Measurement and Control Systems (MRT), Karlsruhe Institute of Technology (KIT), and the FZI Research Center for Information Technology — Richard Schwarzkopf and Fabian Immel (joint first authors), Jan-Hendrik Pauls (project lead), Christoph Stiller, and collaborators. This FiftyOne build was prepared by Harpreet Sahota (Voxel51).
• Language: English
• License: CC-BY-NC-4.0

Resource	Link
Original dataset (Hugging Face)	KIT-MRT/KITScenes-Multimodal
Single-scene preview (Hugging Face)	KIT-MRT/KITScenes-Multimodal-Sample
Python API / devkit (GitHub)	KIT-MRT/kitscenes
Paper	The Road Ahead in Autonomous Driving: The KITScenes Multimodal Dataset — arXiv:2606.02956
Project page	kitscenes.com/multimodal
This FiftyOne build	harpreetsahota/kitscenes-multimodal (Hugging Face)

The kitscenes Python package on GitHub (the devkit) is the official loader for the sensor, calibration, and map data; this FiftyOne build uses it to decode and project the geometry and labels.

Dataset structure

Group slices

The dataset is grouped on the group field. Each frame contains the following slices (the slice name doubles as the sensor name in the sensor field). The default slice shown in the App is camera_ring_front.

Slice	Media	Role
camera_ring_front	image	Forward ring camera (default view)
camera_ring_front_left	image	Ring camera, front-left
camera_ring_front_right	image	Ring camera, front-right
camera_ring_rear	image	Rear ring camera
camera_ring_rear_left	image	Ring camera, rear-left
camera_ring_rear_right	image	Ring camera, rear-right
camera_base_front_center	image	High-resolution long-range front camera
camera_base_front_left_rect	image	Rectified front stereo, left
camera_base_front_right_rect	image	Rectified front stereo, right
lidar	3d	Fused point cloud: 7 lidars + 3 radars, in the ego frame

The six camera_ring_* slices form the 360° surround view; the three camera_base_* slices are the long-range and stereo cameras.

Sample-level fields

These fields are present on every sample (cameras and the 3D slice), giving each sample its scene context, timing, and ego pose.

Field	Type	Description
scene_id	string	UUID of the source scene
frame	int	Frame index within the scene (0-based)
timestamp	float	Reference timestamp (seconds)
sensor	string	Sensor / slice name
ego_translation	list[float]	Ego position [x, y, z] in the world frame
ego_quaternion	list[float]	Ego orientation [qx, qy, qz, qw]
ego_yaw_deg	float	Ego heading (degrees)
location	GeoLocation	GNSS longitude/latitude
altitude	float	GNSS altitude (meters)
gnss_fix_status	int	GNSS fix-status code
ego_speed	float	Ego speed from GNSS twist (m/s)

The per-frame ego pose plus GNSS together give the full car trajectory — the sequence of ego positions and headings over each scene.

Camera slices additionally carry:

Field	Type	Description
intrinsics	dict	Pinhole intrinsics (focal length, principal point)
resolution	dict	Image width / height

Label fields

Labels are attached per camera slice; not every label exists on every camera. The table shows where each one is populated.

Field	FiftyOne type	Where	What it is
lidar_depth	Heatmap	all 9 cameras	Fused lidar depth projected into the image, encoded as an 8-bit depth heatmap (near→far)
hd_map	Polylines	6 ring cameras	Lanelet2 HD-map elements reprojected into the image (lane markings, borders, road markings, poles, traffic signs, traffic lights)
ego_trajectory	Keypoints	camera_ring_front	The vehicle's future path (ego waypoints) projected onto the road ahead, label ego_path
seamseg	Detections	camera_ring_front, camera_ring_rear	Instance predictions (boxes + masks) in the Mapillary-Vistas taxonomy

hd_map polylines carry a top-level label (the coarse category) and a subtype attribute holding the fine-grained Lanelet2 class (e.g. lane-marking style, or the specific German traffic-sign code such as de206).

The 3D lidar slice

The lidar slice is a single .fo3d scene per frame that fuses seven lidars and three radars into one ego-frame point cloud (lidar sweeps are motion-deskewed; radar detections are ego-motion compensated). Points are shaded by intensity in the App. The point clouds carry these per-point scalar fields:

• Lidar points: intensity (reflectivity) and isground (per-point ground flag from ground segmentation).
• Radar points: intensity (RCS) and range_rate (Doppler velocity).

Saved views

Three dynamic grouped views ship with the dataset for browsing:

View	What it shows
ring_front_by_scene_frame	The forward ring camera, grouped by (scene_id, frame) — 680 groups
ring_rear_by_scene_frame	The rear ring camera, grouped by (scene_id, frame) — 680 groups
lidar_by_scene	The fused lidar slice grouped by scene_id — 4 groups, one per scene

Label taxonomies

HD map (hd_map) categories: lane_marking, road_marking, road_border, pole, traffic_sign, traffic_light. Each polyline's subtype holds the detailed Lanelet2 class — lane-marking styles (e.g. dashed, solid, dashed_solid) and the fine-grained German traffic-sign codes (de…).

Instance predictions (seamseg) classes: Mapillary-Vistas "thing" classes, including Car, Truck, Bus, Bicycle, Motorcycle, Trailer, Other Vehicle, Person, Bicyclist, Motorcyclist, Other Rider, Traffic Light, Traffic Sign (Front), Traffic Sign (Back), Traffic Sign Frame, Pole, Utility Pole, Street Light, Bench, Billboard, Banner, Bike Rack, Trash Can, Mailbox, Fire Hydrant, Junction Box, Catch Basin, Manhole, Phone Booth, CCTV Camera, Bird, Wheeled Slow, Crosswalk - Plain, Lane Marking - Crosswalk.

Uses

This FiftyOne build is suited to:

• Multimodal browsing and curation — inspect all 9 cameras and the fused point cloud for any frame, side by side.
• HD-map perception — the hd_map polylines provide reprojection-accurate Lanelet2 map labels aligned to image pixels.
• Long-range depth — lidar_depth heatmaps provide dense, long-range depth ground truth (the source lidar reaches beyond 400 m).
• Trajectory / motion work — per-frame ego pose plus the projected ego_trajectory future path.
• 2D object analysis — the seamseg instance detections on the front and rear ring cameras.

Out-of-scope

This is an early-release preview subset (4 validation scenes). It is meant for exploration and pipeline development, not final benchmark reporting. The build also does not include 3D bounding boxes, tracks, or instance segmentation for dynamic agents (the source dataset omits these in the current release). The seamseg detections are model predictions, not human annotations.

Source data

KITScenes Multimodal was recorded across Karlsruhe, Frankfurt, and Sindelfingen by the Institute of Measurement and Control Systems (MRT) at the Karlsruhe Institute of Technology (KIT). The scenes here are from the validation split (Frankfurt). Camera imagery is anonymized (faces and license plates). Geometry and label projections in this build are produced with the official kitscenes Python API. See Dataset sources above for the original dataset, devkit, paper, and project-page links.

Citation

@misc{schwarzkopf2026kitscenes,
      title={The Road Ahead in Autonomous Driving: The KITScenes Multimodal Dataset},
      author={Richard Schwarzkopf and Fabian Immel and Alexander Blumberg and Jonas Merkert and Nils Rack and Kaiwen Wang and Fabian Konstantinidis and Julian Truetsch and Carlos Fernandez and Annika Bätz and Kevin Rösch and Marlon Steiner and Willi Poh and Yinzhe Shen and Royden Wagner and Felix Hauser and Dominik Strutz and Jaime Villa and Gleb Stepanov and Holger Caesar and Ömer Şahin Taş and Frank Bieder and Jan-Hendrik Pauls and Christoph Stiller},
      year={2026},
      eprint={2606.02956},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2606.02956},
}

License

Released under CC-BY-NC-4.0, matching the source dataset's terms. Non-commercial use only; attribution required.