idsia-robotics/micro-kitti

Mini-KITTI: a 48x48 dataset for tiny Monocular Depth Estimation

Dataset

This dataset scales down to 48x48 resolution the Eigen split of the KITTI dataset. It contains:

• A training split of 22600 images in 48x48 resolution
• A validation split of 888 images in 48x48 resolution
• A test split of 697 images in 48x48 resolution

All images are annotated with 48x48 depth and disparity maps obtained with the stereo-matching SGM algorithm. For every image, also a 360x360 centered portion of the original ground truth is provided, matching the same field of view of the respective image. If a 48x48 depth prediction related to a 48x48-sized image is upscaled to 360x360 resolution, these ground truth portions can be used to compute the prediction accuracy.

Usage

To use the dataset, simply:

tar -xzvf kitti_48x48.tar.gz -C ./

Then, you can find the dataset under "kitti_48x48/".

License

This dataset is derived from KITTI, and therefore released under CC-BY-NC-SA-3.0 license.

Citation

If you use this dataset, please cite:

@article{nadalini2025multi,
  title={Multi-modal On-Device Learning for Monocular Depth Estimation on Ultra-low-power MCUs},
  author={Nadalini, Davide and Rusci, Manuele and Cereda, Elia and Benini, Luca and Conti, Francesco and Palossi, Daniele},
  journal={arXiv preprint arXiv:2512.00086},
  year={2025}
}