Distance (Km)
Given an image, or a sequence of images, we define the task of amodal layout estimation as estimating a bird's-eye view layout of the scene. This layout is amodal in that we also reason about the occupancies and semantics of regions of the scene that are outside the field of view or are occluded in the image.
The Autolay dataset contains road, vehicle and lane layouts with the hierarchy same as the KITTI -RAW dataset. Our train split contains layout data for 24 sequences belonging to the City , Residential , and Road categories. The test split contains layouts datafor 22 sequences from the same categories.