The Yotta dataset consists of 70 images for semantic labeling given in 11 classes. It also contains multiple videos and camera matrices for 14km or driving. Automatic Dense Visual Semantic Mapping from Street-Level Imagery Sunando Sengupta, Paul Sturgess, Lubor Ladicky and Philip H.S. Torr, IROS 2012 IROS 2012 paper IROS 2012 presentation Dataset (Images + Camera Matrix) Labelling Tools for Extracting Images

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