Download pre-trained LSVM baseline models (5 MB) used in Joint 3D Estimation of Objects and Scene Layout (NIPS 2011).Download object development kit (1 MB) (including 3D object detection and bird's eye view evaluation code).Download training labels of object data set (5 MB).Download camera calibration matrices of object data set (16 MB).Download Velodyne point clouds, if you want to use laser information (29 GB).Download the 3 temporally preceding frames (right color) (36 GB).Download the 3 temporally preceding frames (left color) (36 GB).Download right color images, if you want to use stereo information (12 GB).Download left color images of object data set (12 GB).Our development kit provides details about the data format as well as MATLAB / C++ utility functions for reading and writing the label files. We require that all methods use the same parameter set for all test pairs. ![]() To rank the methods we compute average precision. For evaluation, we compute precision-recall curves. ![]() The 3D object detection benchmark consists of 7481 training images and 7518 test images as well as the corresponding point clouds, comprising a total of 80.256 labeled objects.
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