2026-10-15T02:04:18Z https://www.scidb.cn/oai

10.57760/sciencedb.crad.0000t 2026-08-28T10:29:35Z

2026-08-28 The Unified NPY‑Format Virtual‑Point‑Cloud Extended KITTI Dataset for Multimodal 3D Object Detection doi:10.57760/sciencedb.crad.0000t en This is a virtual point cloud extended version of the KITTI dataset built based on the VirConv project (https://github.com/hailanyi/VirConv). In the original KITTI dataset, raw LiDAR point clouds are stored in bin format, while RGB virtual point clouds are saved as npy files. The inconsistency of data formats brings difficulties to multimodal joint processing. In this dataset, original LiDAR point clouds are converted into npy format to unify storage format for real point clouds and virtual point clouds. It supports collaborative reading, preprocessing, and network feeding of two kinds of point clouds. The dataset contains 3712 official KITTI training and validation samples, as well as odometry samples with pseudo‑labels for semi‑supervision tasks. It is compatible with VirConv‑L, VirConv‑T, and VirConv‑S multimodal 3D detectors for virtual sparse convolution-based 3D object detection experiments. KITTI; point cloud; dataset 纪文宇 PUBLIC https://creativecommons.org/licenses/by-sa/4.0/ dataset http://www.doi.org/10.7544/issn1000-1239.202550676 Science Data Bank