Tong Guo In the KITTI dataset, 3D bounding boxes are annotated to define the position, orientation, and size of objects in the scene, measured in meters. Imagine parking your car in a garage. You know the length, width, and height of the car, and you also know how far it is from the walls and doors. Similarly, each object in the KITTI dataset is enclosed within a 3D box, which specifies its dimensions (height, width, length) and position (X, Y, Z coordinates) relative to the camera.

The XYZ coordinates describe the object's center position in meters, where:

• X represents the object's position left or right.
• Y represents its height above or below the camera.
• Z shows how far the object is from the camera.

Additionally, the yaw angle specifies the orientation of the object, much like knowing whether your parked car is facing straight or angled. This is crucial for tasks such as self-driving cars, where detecting and understanding the exact position and alignment of other vehicles or pedestrians is necessary for navigation and safety.

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