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+## KITTI dataset
+
+[![teaser](/doc/img/kitti_video.png)](https://www.youtube.com/watch?v=M_ZcNgExUNc)
+
+We demonstrate the usage of the system with the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as an example.
+
+**Note:** The path to calibration and configuration files used here works for the APT installation. If you compile from source specify the appropriate path to the files in [data folder](/data/).
+
+Download the sequences (`data_odometry_gray.zip`) from the dataset and extract it. 
+```
+# We assume you have extracted the sequences in ~/dataset_gray/sequences/
+# Convert calibration to the basalt format
+basalt_convert_kitti_calib.py ~/dataset_gray/sequences/00/
+
+# If you want to convert calibrations for all sequences use the following command
+for i in {00..21}; do basalt_convert_kitti_calib.py ~/dataset_gray/sequences/$i/; done
+```
+Optionally you can also copy the provided ground-truth poses to `poses.txt` in the corresponding sequence.
+
+### Visual odometry
+To run the visual odometry execute the following command.
+```
+basalt_vio --dataset-path ~/dataset_gray/sequences/00/ --cam-calib /work/kitti/dataset_gray/sequences/00/basalt_calib.json --dataset-type kitti --config-path /usr/etc/basalt/kitti_config.json --show-gui 1 --use-imu 0
+```
+![magistrale1_vio](/doc/img/kitti.png)