README

SemanticKITTI semantic segmentation training data
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Version: 1.0

See http://www.semantic-kitti.org for more information on the dataset and updates.


Change Log
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Version 1.0: initial release.


Contents
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This archive contains the labels for sequences 00-10 of the KITTI odemetry 
benchmark. We provide furthermore the poses (poses.txt in each folder) used to 
annotate the labeled sequences for all sequences (including the test set 
sequences).

See http://www.semantic-kitti.org/dataset.html#format for more information on 
the data format. We also provide Python code to read and visualize the data, 
which is available under http://www.semantic-kitti.org/resources.html#devtools.


License
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Our dataset is based on the KITTI Vision Benchmark and therefore we distribute
the data under Creative Commons Attribution-NonCommercial-ShareAlike licence. 
You are free to share and adapt the data, but have to give appropriate credit 
and may not use the work for commercial purposes.

Specifically you should cite our work:

@inproceedings{behley2019iccv,
    author = {J. Behley and M. Garbade and A. Milioto and J. Quenzel 
              and S. Behnke and C. Stachniss and J. Gall},
    title = {{SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences}},
    booktitle = {Proc.~of the IEEE International Conf. on Computer Vision (ICCV)},
    year = {2019}}

But also cite the original KITTI Vision Benchmark:

@inproceedings{geiger2012cvpr,
    author = {A. Geiger and P. Lenz and R. Urtasun},
    title = {{Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite}},
    booktitle = {Proc.~of the IEEE Conf.~on Computer Vision and Pattern Recognition (CVPR)},
    pages = {3354--3361},
    year = {2012}}


See http://www.semantic-kitti.org/dataset.html#licence for more information on
the licence.