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addition, for each image, we provide a stereo pair for ob-taining stereo disparity; and for each car, we provide 3D keypoints such as corner of doors and headlights, as well as realistic 3D CAD models with an absolute scale. An exam-ple is shown in Fig. 1(b). We will provide details about how we deﬁne those keypoints and label the dataset in ......

https://arxiv.org/pdf/1811.12222.pdf

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