mlsanityData to 7 Oct 2026

Virtual KITTI 2

arXiv 2001.10773 ↗First posted 29 Jan 2020cs.CV cs.RO eess.IVcited by 345

Not on the map. Why?

Cited by 50 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

This paper introduces an updated version of the well-known Virtual KITTI dataset which consists of 5 sequence clones from the KITTI tracking benchmark. In addition, the dataset provides different variants of these sequences such as modified weather conditions (e.g. fog, rain) or modified camera configurations (e.g. rotated by 15 degrees). For each sequence, we provide multiple sets of images containing RGB, depth, class segmentation, instance segmentation, flow, and scene flow data. Camera parameters and poses as well as vehicle locations are available as well. In order to showcase some of the dataset's capabilities, we ran multiple relevant experiments using state-of-the-art algorithms from the field of autonomous driving. The dataset is available for download at https://europe.naverlabs.com/Research/Computer-Vision/Proxy-Virtual-Worlds.

Key facts. Cited by 345 papers in the map (data through 7 Oct 2026). First posted on arXiv 29 Jan 2020.

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Citing papers per year: 2021: 23; 2022: 28; 2023: 27; 2024: 59; 2025: 102; 2026: 106.

345 papers.

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  1. 2024SAM 2: Segment Anything in Images and Videoscited by 2,784
  2. 2025VGGT: Visual Geometry Grounded Transformercited by 1,475
  3. 2024Depth Anything V2cited by 1,385
  4. 2024Grounding Image Matching in 3D with MASt3Rcited by 960
  5. 2023ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depthcited by 646
  6. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 570
  7. 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 389
  8. 2021GMFlow: Learning Optical Flow via Global Matchingcited by 324
  9. 2023Repurposing Diffusion-Based Image Generators for Monocular Depth Estimationcited by 323
  10. 2024GeoWizard: Unleashing the Diffusion Priors for 3D Geometry Estimation from a Single Imagecited by 283
  11. 2024DepthSplat: Connecting Gaussian Splatting and Depthcited by 275
  12. 2022Unifying Flow, Stereo and Depth Estimationcited by 270
38 more
  1. 2022Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representationcited by 243
  2. 2024Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splattingcited by 218
  3. 2025Video Depth Anything: Consistent Depth Estimation for Super-Long Videoscited by 202
  4. 2023Spring: A High-Resolution High-Detail Dataset and Benchmark for Scene Flow, Optical Flow and Stereocited by 170
  5. 2023MARS: An Instance-aware, Modular and Realistic Simulator for Autonomous Drivingcited by 170
  6. 2025FoundationStereo: Zero-Shot Stereo Matchingcited by 168
  7. 2024Lotus: Diffusion-based Visual Foundation Model for High-quality Dense Predictioncited by 163
  8. 2024Tora: Trajectory-oriented Diffusion Transformer for Video Generationcited by 161
  9. 2022CroCo: Self-Supervised Pre-training for 3D Vision Tasks by Cross-View Completioncited by 158
  10. 2024Lumina-mGPT: Illuminate Flexible Photorealistic Text-to-Image Generation with Multimodal Generative Pretrainingcited by 148
  11. 2025Streaming 4D Visual Geometry Transformercited by 147
  12. 2023DatasetDM: Synthesizing Data with Perception Annotations Using Diffusion Modelscited by 122
  13. 2024Learning Temporally Consistent Video Depth from Video Diffusion Priorscited by 100
  14. 2024Fine-Tuning Image-Conditional Diffusion Models is Easier than You Thinkcited by 82
  15. 2025Point3R: Streaming 3D Reconstruction with Explicit Spatial Pointer Memorycited by 82
  16. 2025Marigold: Affordable Adaptation of Diffusion-Based Image Generators for Image Analysiscited by 78
  17. 2025SpatialVID: A Large-Scale Video Dataset with Spatial Annotationscited by 72
  18. 2021Unsupervised Learning of Compositional Energy Conceptscited by 71
  19. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  20. 2022Multi-Frame Self-Supervised Depth with Transformerscited by 64
  21. 20253D and 4D World Modeling: A Surveycited by 64
  22. 2021Regularizing Nighttime Weirdness: Efficient Self-supervised Monocular Depth Estimation in the Darkcited by 57
  23. 2024Depth Any Video with Scalable Synthetic Datacited by 57
  24. 2024IGEV++: Iterative Multi-range Geometry Encoding Volumes for Stereo Matchingcited by 55
  25. 2025DEFOM-Stereo: Depth Foundation Model Based Stereo Matchingcited by 51
  26. 2023Synthetic Datasets for Autonomous Driving: A Surveycited by 48
  27. 2024Marigold-DC: Zero-Shot Monocular Depth Completion with Guided Diffusioncited by 47
  28. 2025Pixel-Perfect Depth with Semantics-Prompted Diffusion Transformerscited by 47
  29. 2025RoMa v2: Harder Better Faster Denser Feature Matchingcited by 44
  30. 2022GraftNet: Towards Domain Generalized Stereo Matching with a Broad-Spectrum and Task-Oriented Featurecited by 43
  31. 2021Depth Completion with Twin Surface Extrapolation at Occlusion Boundariescited by 41
  32. 2026Image Generators are Generalist Vision Learnerscited by 40
  33. 2023R3D3: Dense 3D Reconstruction of Dynamic Scenes from Multiple Camerascited by 39
  34. 2026NeoVerse: Enhancing 4D World Model with in-the-wild Monocular Videoscited by 39
  35. 2025LBM: Latent Bridge Matching for Fast Image-to-Image Translationcited by 36
  36. 2025GeometryCrafter: Consistent Geometry Estimation for Open-world Videos with Diffusion Priorscited by 36
  37. 2024Dynamic 3D Gaussian Fields for Urban Areascited by 35
  38. 2025TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigationcited by 35

50 most cited of 345 All 345 (JSON)