  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.
