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Datasets › KITTI-360

KITTI-360

Introduced by Yiyi Liao et al. in KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D28 Sep 2021 archive 2025-07-28

KITTI-360 is a large-scale dataset that contains rich sensory information and full annotations. It is the successor of the popular KITTI dataset, providing more comprehensive semantic/instance labels in 2D and 3D, richer 360 degree sensory information (fisheye images and pushbroom laser scans), very accurate and geo-localized vehicle and camera poses, and a series of new challenging benchmarks.

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 7 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

First row (archive order)PaperCode
Semantic Segmentation KITTI-360 DiPFormer mIoU 68.74 Depth Matters: Exploring Deep Interactions of RGB-D for... — 17 Compare
3D Object Detection From Monocular Images KITTI-360 SeaBird + PanopticBEV AP50 4.64 SeaBird: Segmentation in Bird's View with Dice Loss... abhi1kumar/seabird 11 Compare
3D Semantic Segmentation KITTI-360 DeepViewAgg miou 58.3 Learning Multi-View Aggregation In the Wild for... drprojects/deepviewagg 8 Compare
3D Semantic Scene Completion KITTI-360 Symphonies mIoU 18.58 Symphonize 3D Semantic Scene Completion with Contextual... hustvl/symphonies 7 Compare
3D Semantic Scene Completion from a single RGB image KITTI-360 CGFormer mIoU 20.05 Context and Geometry Aware Voxel Transformer for... pkqbajng/cgformer 4 Compare
Weakly Supervised 3D Detection KITTI-360 VSRD-MonoDETR mAP@0.3 58.40 VSRD: Instance-Aware Volumetric Silhouette Rendering for... skmhrk1209/VSRD 3 Compare
Panoptic Segmentation KITTI-360 SuperCluster PQ 48.3 Scalable 3D Panoptic Segmentation As Superpoint Graph Clustering drprojects/superpoint_transformer 1 Compare

Papers archive 2025-07-28

30 shown of 37 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 246. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
HSPFormer: Hierarchical Spatial Perception Transformer for Semantic Segmentation 1 2 16 Jan 2025 not harvested
CLOUDSPAM: Contrastive Learning On Unlabeled Data for Segmentation and Pre-Training Using Aggregated Point Clouds and MoCo 1 2 26 Oct 2024 not harvested
Depth Matters: Exploring Deep Interactions of RGB-D for Semantic Segmentation in Traffic Scenes 0 1 12 Sep 2024 not harvested
Context and Geometry Aware Voxel Transformer for Semantic Scene Completion 1 1 22 May 2024 ran 1 of 1 samples (0 unverified)
VSRD: Instance-Aware Volumetric Silhouette Rendering for Weakly Supervised 3D Object Detection 1 1 29 Mar 2024 ran 0 of 1 samples (1 unverified)
SeaBird: Segmentation in Bird's View with Dice Loss Improves Monocular 3D Detection of Large Objects 1 2 29 Mar 2024 not harvested
Scalable 3D Panoptic Segmentation As Superpoint Graph Clustering 1 2 12 Jan 2024 not harvested
Symphonize 3D Semantic Scene Completion with Contextual Instance Queries 1 2 27 Jun 2023 ran 1 of 8 samples (7 unverified)
Efficient 3D Semantic Segmentation with Superpoint Transformer 1 1 13 Jun 2023 not harvested
OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction 1 1 11 Apr 2023 ran 1 of 3 samples (2 unverified)
Delivering Arbitrary-Modal Semantic Segmentation 1 1 2 Mar 2023 ran 6 of 7 samples (1 unverified)
VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion 1 2 23 Feb 2023 not harvested
Tri-Perspective View for Vision-Based 3D Semantic Occupancy Prediction 3 1 15 Feb 2023 ran 3 of 4 samples (1 unverified)
Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wild 1 1 21 Jul 2022 not harvested
DEVIANT: Depth EquiVarIAnt NeTwork for Monocular 3D Object Detection 2 1 21 Jul 2022 ran 9 of 15 samples (6 unverified)
HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection 1 3 30 Jun 2022 not harvested
Multimodal Token Fusion for Vision Transformers 11 2 19 Apr 2022 ran 1 of 3 samples (2 unverified; 1 pointer-only for licence)
Learning Multi-View Aggregation In the Wild for Large-Scale 3D Semantic Segmentation 1 2 15 Apr 2022 not harvested
MonoDETR: Depth-guided Transformer for Monocular 3D Object Detection 1 1 24 Mar 2022 not harvested
MonoDTR: Monocular 3D Object Detection with Depth-Aware Transformer 1 1 21 Mar 2022 ran 3 of 8 samples (5 unverified)
WeakM3D: Towards Weakly Supervised Monocular 3D Object Detection 1 1 16 Mar 2022 ran 2 of 3 samples (1 unverified; 3 pointer-only for licence)
CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers 1 2 9 Mar 2022 ran 2 of 2 samples (0 unverified)
Glass Segmentation Using Intensity and Spectral Polarization Cues 0 1 1 Jan 2022 not harvested
MonoScene: Monocular 3D Semantic Scene Completion 2 2 1 Dec 2021 ran 3 of 6 samples (3 unverified)
Geometry Uncertainty Projection Network for Monocular 3D Object Detection 1 1 29 Jul 2021 ran 8 of 21 samples (13 unverified)
EPMF: Efficient Perception-aware Multi-sensor Fusion for 3D Semantic Segmentation 1 1 21 Jun 2021 not harvested
Multi-Modal Fusion Transformer for End-to-End Autonomous Driving 2 1 19 Apr 2021 ran 9 of 15 samples (6 unverified)
GrooMeD-NMS: Grouped Mathematically Differentiable NMS for Monocular 3D Object Detection 1 1 31 Mar 2021 ran 5 of 7 samples (2 unverified)
Delving into Localization Errors for Monocular 3D Object Detection 1 1 30 Mar 2021 ran 1 of 1 samples (0 unverified)
LMSCNet: Lightweight Multiscale 3D Semantic Completion 3 1 24 Aug 2020 not harvested

The full list of 37 is in the JSON twin.

Dataset loaders archive 2025-07-28

No loader listed in the archive.

Tasks archive 2025-07-28

Semantic Segmentation2D Semantic SegmentationInstance SegmentationPanoptic SegmentationNovel View Synthesis3D Semantic Segmentation3D Instance Segmentation3D Semantic Scene Completion3D Object Detection From Monocular Images3D Semantic Scene Completion from a single RGB imageSemantic SLAMWeakly Supervised 3D Detection

License archive 2025-07-28

All datasets and benchmarks on this page are copyright by us and published under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License. This means that you must attribute the work in the manner specified by the authors, you may not use this work for commercial purposes and if you alter, transform, or build upon this work, you may distribute the resulting work only under the same license. Per GDPR requirements, to download and to use the data you need to register and specify the i

Modalities archive 2025-07-28

ImagesLiDAR

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • KITTI-360

1 variant name, as the archive lists them.

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