mlsanityData to 7 Oct 2026

KITTI-CARLA: a KITTI-like dataset generated by CARLA Simulator

arXiv 2109.00892 ↗First posted 17 Aug 2021cs.CV cs.ROcited by 33

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Abstract (arXiv)

KITTI-CARLA is a dataset built from the CARLA v0.9.10 simulator using a vehicle with sensors identical to the KITTI dataset. The vehicle thus has a Velodyne HDL64 LiDAR positioned in the middle of the roof and two color cameras similar to Point Grey Flea 2. The positions of the LiDAR and cameras are the same as the setup used in KITTI. The objective of this dataset is to test approaches of semantic segmentation LiDAR and/or images, odometry LiDAR and/or image in synthetic data and to compare with the results obtained on real data like KITTI. This dataset thus makes it possible to improve transfer learning methods from a synthetic dataset to a real dataset. We created 7 sequences with 5000 frames in each sequence in the 7 maps of CARLA providing different environments (city, suburban area, mountain, rural area, highway...). The dataset is available at: http://npm3d.fr

Key facts. Cited by 33 papers in the map (data through 7 Oct 2026). Builds on 1 of its 2 references that are in the map. First posted on arXiv 17 Aug 2021.

Builds on

1 of 2 references.

References · 1

  1. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 7; 2023: 5; 2024: 7; 2025: 8; 2026: 4.

33 papers.

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  1. 2022Practical Stereo Matching via Cascaded Recurrent Network with Adaptive Correlationcited by 197
  2. 2023LiDAR-NeRF: Novel LiDAR View Synthesis via Neural Radiance Fieldscited by 46
  3. 2021CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closurecited by 38
  4. 2023Uncertainty Guided Adaptive Warping for Robust and Efficient Stereo Matchingcited by 36
  5. 2021Paris-CARLA-3D: A Real and Synthetic Outdoor Point Cloud Dataset for Challenging Tasks in 3D Mappingcited by 25
  6. 2022Domain generalization of 3D semantic segmentation in autonomous drivingcited by 25
  7. 2024Match-Stereo-Videos: Bidirectional Alignment for Consistent Dynamic Stereo Matchingcited by 24
  8. 2024Data-Centric Evolution in Autonomous Driving: A Comprehensive Survey of Big Data System, Data Mining, and Closed-Loop Technologiescited by 17
  9. 2022Consistent Direct Time-of-Flight Video Depth Super-Resolutioncited by 16
  10. 2022Synthehicle: Multi-Vehicle Multi-Camera Tracking in Virtual Citiescited by 12
  11. 2024SEED4D: A Synthetic Ego--Exo Dynamic 4D Data Generator, Driving Dataset and Benchmarkcited by 8
  12. 2025Extremely Simple Multimodal Outlier Synthesis for Out-of-Distribution Detection and Segmentationcited by 8
21 more
  1. 2025Register Any Point: Scaling 3D Point Cloud Registration by Flow Matchingcited by 8
  2. 2025Stereo Any Video: Temporally Consistent Stereo Matchingcited by 7
  3. 2024ContextualFusion: Context-Based Multi-Sensor Fusion for 3D Object Detection in Adverse Operating Conditionscited by 6
  4. 2023Recent Advancements in Deep Learning Applications and Methods for Autonomous Navigation: A Comprehensive Reviewcited by 5
  5. 2022IBISCape: A Simulated Benchmark for multi-modal SLAM Systems Evaluation in Large-scale Dynamic Environmentscited by 3
  6. 2024A Survey on Adversarial Robustness of LiDAR-based Machine Learning Perception in Autonomous Vehiclescited by 3
  7. 2025SynthmanticLiDAR: A Synthetic Dataset for Semantic Segmentation on LiDAR Imagingcited by 3
  8. 2023DeepPointMap: Advancing LiDAR SLAM with Unified Neural Descriptorscited by 2
  9. 2024COMMIT: Certifying Robustness of Multi-Sensor Fusion Systems against Semantic Attackscited by 2
  10. 2026Annotation-Free Detection of Drivable Areas and Curbs Leveraging LiDAR Point Cloud Mapscited by 2
  11. 2022VTrackIt: A Synthetic Self-Driving Dataset with Infrastructure and Pooled Vehicle Informationcited by 1
  12. 2022A Human-in-the-Middle Attack against Object Detection Systemscited by 1
  13. 2023Analysis of LiDAR Configurations on Off-road Semantic Segmentation Performancecited by 1
  14. 2024WHU-Synthetic: A Synthetic Perception Dataset for 3-D Multitask Model Researchcited by 0
  15. 2025Revisiting Physically Realizable Adversarial Object Attack against LiDAR-based Detection: Clarifying Problem Formulation and Experimental Protocolscited by 0
  16. 2025Semantic-Enhanced Cross-Modal Place Recognition for Robust Robot Localizationcited by 0
  17. 2025PPMStereo: Pick-and-Play Memory Construction for Consistent Dynamic Stereo Matchingcited by 0
  18. 2025Estimating Fog Parameters from a Sequence of Stereo Imagescited by 0
  19. 2026Metadata-Aware Multi-Prompt Reasoning for Zero-Shot Accident Understandingcited by 0
  20. 2026FalconTrack: Photorealistic Auto-Labeled Perception and Physics-Aware Vision-Based Aerial Trackingcited by 0
  21. 2026FogDrive: A Multi-Modal Synthetic Driving Dataset for Perception under Graded Fogcited by 0