diff --git a/projects/kitti_step_dataset/README.md b/projects/kitti_step_dataset/README.md
new file mode 100644
index 000000000..e8b56f503
--- /dev/null
+++ b/projects/kitti_step_dataset/README.md
@@ -0,0 +1,97 @@
+# KITTI STEP Dataset
+
+Support **`KITTI STEP Dataset`**
+
+## Description
+
+Author: TimoK93
+
+This project implements **`KITTI STEP Dataset`**
+
+### Dataset preparing
+
+After registration, the data images could be download from [KITTI-STEP](http://www.cvlibs.net/datasets/kitti/eval_step.php)
+
+You may need to follow the following structure for dataset preparation after downloading KITTI-STEP dataset.
+
+```
+mmsegmentation
+├── mmseg
+├── tools
+├── configs
+├── data
+│   ├── kitti_step
+│   │   ├── testing
+│   │   ├── training
+│   │   ├── panoptic_maps
+```
+
+Run the preparation script to generate label files and kitti subsets by executing
+
+```shell
+python tools/convert_datasets/kitti_step.py /path/to/kitti_step
+```
+
+After executing the script, your directory should look like
+
+```
+mmsegmentation
+├── mmseg
+├── tools
+├── configs
+├── data
+│   ├── kitti_step
+│   │   ├── testing
+│   │   ├── training
+│   │   ├── panoptic_maps
+│   │   ├── training_openmmlab
+│   │   ├── panoptic_maps_openmmlab
+```
+
+### Training commands
+
+```bash
+# Dataset train commands
+# at `mmsegmentation` folder
+bash tools/dist_train.sh projects/kitti_step_dataset/configs/segformer/segformer_mit-b5_368x368_160k_kittistep.py 8
+```
+
+### Testing commands
+
+```bash
+mim test mmsegmentation projects/kitti_step_dataset/configs/segformer/segformer_mit-b5_368x368_160k_kittistep.py --work-dir work_dirs/segformer_mit-b5_368x368_160k_kittistep --checkpoint ${CHECKPOINT_PATH} --eval mIoU
+```
+
+| Method    | Backbone | Crop Size | Lr schd | Mem (GB) | Inf time (fps) |  mIoU | mIoU(ms+flip) | config                                                                 | model                                                                                                                                                                              | log                                                                                                                                                                          |
+| --------- | -------- | --------- | ------: | -------- | -------------- | ----: | ------------: | ---------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Segformer | MIT-B5   | 368x368   |  160000 | -        | -              | 65.05 |             - | [config](configs/segformer/segformer_mit-b5_368x368_160k_kittistep.py) | [model](https://download.openmmlab.com/mmsegmentation/v0.5/segformer/segformer_mit-b5_368x368_160k_kittistep/segformer_mit-b5_368x368_160k_kittistep_20230506_103002-20797496.pth) | [log](https://download.openmmlab.com/mmsegmentation/v0.5/segformer/segformer_mit-b5_368x368_160k_kittistep/segformer_mit-b5_368x368_160k_kittistep_20230506_103002.log.json) |
+
+## Checklist
+
+- [x] Milestone 1: PR-ready, and acceptable to be one of the `projects/`.
+
+  - [x] Finish the code
+
+  - [x] Basic docstrings & proper citation
+
+  - [ ] Test-time correctness
+
+  - [x] A full README
+
+- [ ] Milestone 2: Indicates a successful model implementation.
+
+  - [ ] Training-time correctness
+
+- [ ] Milestone 3: Good to be a part of our core package!
+
+  - [ ] Type hints and docstrings
+
+  - [ ] Unit tests
+
+  - [ ] Code polishing
+
+  - [ ] Metafile.yml
+
+- [ ] Move your modules into the core package following the codebase's file hierarchy structure.
+
+- [ ] Refactor your modules into the core package following the codebase's file hierarchy structure.
diff --git a/projects/kitti_step_dataset/configs/_base_/datasets/kittistep.py b/projects/kitti_step_dataset/configs/_base_/datasets/kittistep.py
new file mode 100644
index 000000000..e3be1ccc3
--- /dev/null
+++ b/projects/kitti_step_dataset/configs/_base_/datasets/kittistep.py
@@ -0,0 +1,54 @@
+# dataset settings
+dataset_type = 'KITTISTEPDataset'
+data_root = 'data/kitti_step/'
+img_norm_cfg = dict(
+    mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)
+crop_size = (368, 368)
+train_pipeline = [
+    dict(type='LoadImageFromFile'),
+    dict(type='LoadAnnotations'),
+    dict(type='Resize', img_scale=(1242, 375), ratio_range=(0.5, 2.0)),
+    dict(type='RandomCrop', crop_size=crop_size, cat_max_ratio=0.75),
+    dict(type='RandomFlip', prob=0.5),
+    dict(type='PhotoMetricDistortion'),
+    dict(type='Normalize', **img_norm_cfg),
+    dict(type='Pad', size=crop_size, pad_val=0, seg_pad_val=255),
+    dict(type='DefaultFormatBundle'),
+    dict(type='Collect', keys=['img', 'gt_semantic_seg']),
+]
+test_pipeline = [
+    dict(type='LoadImageFromFile'),
+    dict(
+        type='MultiScaleFlipAug',
+        img_scale=(1242, 375),
+        img_ratios=[1.0],
+        flip=False,
+        transforms=[
+            dict(type='Resize', keep_ratio=True),
+            dict(type='RandomFlip'),
+            dict(type='Normalize', **img_norm_cfg),
+            dict(type='ImageToTensor', keys=['img']),
+            dict(type='Collect', keys=['img']),
+        ])
+]
+data = dict(
+    samples_per_gpu=2,
+    workers_per_gpu=2,
+    train=dict(
+        type=dataset_type,
+        data_root=data_root,
+        img_dir='training_openmmlab/image_02/train',
+        ann_dir='panoptic_maps_openmmlab/train',
+        pipeline=train_pipeline),
+    val=dict(
+        type=dataset_type,
+        data_root=data_root,
+        img_dir='training_openmmlab/image_02/val',
+        ann_dir='panoptic_maps_openmmlab/val',
+        pipeline=test_pipeline),
+    test=dict(
+        type=dataset_type,
+        data_root=data_root,
+        img_dir='training_openmmlab/image_02/val',
+        ann_dir='panoptic_maps_openmmlab/val',
+        pipeline=test_pipeline))
diff --git a/projects/kitti_step_dataset/configs/deeplabv3plus/deeplabv3plus_r50-d8_368x368_80k_kittistep.py b/projects/kitti_step_dataset/configs/deeplabv3plus/deeplabv3plus_r50-d8_368x368_80k_kittistep.py
new file mode 100644
index 000000000..627d64f51
--- /dev/null
+++ b/projects/kitti_step_dataset/configs/deeplabv3plus/deeplabv3plus_r50-d8_368x368_80k_kittistep.py
@@ -0,0 +1,10 @@
+_base_ = [
+    '../../../../configs/_base_/models/deeplabv3plus_r50-d8.py',
+    '../_base_/datasets/kittistep.py',
+    '../../../../configs/_base_/default_runtime.py',
+    '../../../../configs/_base_/schedules/schedule_80k.py'
+]
+model = dict(
+    decode_head=dict(align_corners=True),
+    auxiliary_head=dict(align_corners=True),
+    test_cfg=dict(mode='slide', crop_size=(769, 769), stride=(513, 513)))
diff --git a/projects/kitti_step_dataset/configs/segformer/segformer_mit-b0_368x368_160k_kittistep.py b/projects/kitti_step_dataset/configs/segformer/segformer_mit-b0_368x368_160k_kittistep.py
new file mode 100644
index 000000000..4a159363f
--- /dev/null
+++ b/projects/kitti_step_dataset/configs/segformer/segformer_mit-b0_368x368_160k_kittistep.py
@@ -0,0 +1,38 @@
+_base_ = [
+    '../../../../configs/_base_/models/segformer_mit-b0.py',
+    '../_base_/datasets/kittistep.py',
+    '../../../../configs/_base_/default_runtime.py',
+    '../../../../configs/_base_/schedules/schedule_160k.py'
+]
+
+checkpoint = 'https://download.openmmlab.com/mmsegmentation/v0.5/pretrain/segformer/mit_b0_20220624-7e0fe6dd.pth'  # noqa
+
+model = dict(
+    backbone=dict(init_cfg=dict(type='Pretrained', checkpoint=checkpoint)),
+    test_cfg=dict(mode='slide', crop_size=(1024, 1024), stride=(768, 768)))
+
+# optimizer
+optimizer = dict(
+    _delete_=True,
+    type='AdamW',
+    lr=0.00006,
+    betas=(0.9, 0.999),
+    weight_decay=0.01,
+    paramwise_cfg=dict(
+        custom_keys={
+            'pos_block': dict(decay_mult=0.),
+            'norm': dict(decay_mult=0.),
+            'head': dict(lr_mult=10.)
+        }))
+
+lr_config = dict(
+    _delete_=True,
+    policy='poly',
+    warmup='linear',
+    warmup_iters=1500,
+    warmup_ratio=1e-6,
+    power=1.0,
+    min_lr=0.0,
+    by_epoch=False)
+
+data = dict(samples_per_gpu=2, workers_per_gpu=2)
diff --git a/projects/kitti_step_dataset/configs/segformer/segformer_mit-b5_368x368_160k_kittistep.py b/projects/kitti_step_dataset/configs/segformer/segformer_mit-b5_368x368_160k_kittistep.py
new file mode 100644
index 000000000..d9dfcc822
--- /dev/null
+++ b/projects/kitti_step_dataset/configs/segformer/segformer_mit-b5_368x368_160k_kittistep.py
@@ -0,0 +1,9 @@
+_base_ = ['./segformer_mit-b0_368x368_160k_kittistep.py']
+
+checkpoint = 'https://download.openmmlab.com/mmsegmentation/v0.5/pretrain/segformer/mit_b5_20220624-658746d9.pth'  # noqa
+model = dict(
+    backbone=dict(
+        init_cfg=dict(type='Pretrained', checkpoint=checkpoint),
+        embed_dims=64,
+        num_layers=[3, 6, 40, 3]),
+    decode_head=dict(in_channels=[64, 128, 320, 512]))
diff --git a/projects/kitti_step_dataset/mmseg/datasets/__init__.py b/projects/kitti_step_dataset/mmseg/datasets/__init__.py
new file mode 100644
index 000000000..b6cc27207
--- /dev/null
+++ b/projects/kitti_step_dataset/mmseg/datasets/__init__.py
@@ -0,0 +1,6 @@
+# Copyright (c) OpenMMLab. All rights reserved.
+from .kitti_step import KITTISTEPDataset
+
+__all__ = [
+    'KITTISTEPDataset',
+]
diff --git a/projects/kitti_step_dataset/mmseg/datasets/kitti_step.py b/projects/kitti_step_dataset/mmseg/datasets/kitti_step.py
new file mode 100644
index 000000000..99969f982
--- /dev/null
+++ b/projects/kitti_step_dataset/mmseg/datasets/kitti_step.py
@@ -0,0 +1,15 @@
+# Copyright (c) OpenMMLab. All rights reserved.
+from mmseg.datasets.builder import DATASETS
+from mmseg.datasets.cityscapes import CityscapesDataset
+
+
+@DATASETS.register_module()
+class KITTISTEPDataset(CityscapesDataset):
+    """KITTI-STEP dataset."""
+
+    def __init__(self,
+                 img_suffix='.png',
+                 seg_map_suffix='_labelTrainIds.png',
+                 **kwargs):
+        super(KITTISTEPDataset, self).__init__(
+            img_suffix=img_suffix, seg_map_suffix=seg_map_suffix, **kwargs)
diff --git a/projects/kitti_step_dataset/tools/convert_datasets/kitti_step.py b/projects/kitti_step_dataset/tools/convert_datasets/kitti_step.py
new file mode 100644
index 000000000..5bf630744
--- /dev/null
+++ b/projects/kitti_step_dataset/tools/convert_datasets/kitti_step.py
@@ -0,0 +1,77 @@
+# Copyright (c) OpenMMLab. All rights reserved.
+import argparse
+import os
+import os.path as osp
+import shutil
+
+import cv2
+import mmcv
+
+
+def kitti_to_train_ids(input):
+    src, gt_dir, new_gt_dir = input
+    label_file = src.replace('.png',
+                             '_labelTrainIds.png').replace(gt_dir, new_gt_dir)
+    img = cv2.imread(src)
+    dirname = os.path.dirname(label_file)
+    os.makedirs(dirname, exist_ok=True)
+    sem_seg = img[:, :, 2]
+    cv2.imwrite(label_file, sem_seg)
+
+
+def copy_file(input):
+    src, dst = input
+    if not osp.exists(dst):
+        os.makedirs(osp.dirname(dst), exist_ok=True)
+        shutil.copyfile(src, dst)
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(
+        description='Convert KITTI-STEP annotations to TrainIds')
+    parser.add_argument('kitti_path', help='kitti step data path')
+    parser.add_argument('--gt-dir', default='panoptic_maps', type=str)
+    parser.add_argument('-o', '--out-dir', help='output path')
+    parser.add_argument(
+        '--nproc', default=1, type=int, help='number of process')
+    args = parser.parse_args()
+    return args
+
+
+def main():
+    args = parse_args()
+    kitti_path = args.kitti_path
+    out_dir = args.out_dir if args.out_dir else kitti_path
+    mmcv.mkdir_or_exist(out_dir)
+
+    gt_dir = osp.join(kitti_path, args.gt_dir)
+
+    ann_files = []
+    for poly in mmcv.scandir(gt_dir, '.png', recursive=True):
+        poly_file = osp.join(gt_dir, poly)
+        ann_files.append([poly_file, args.gt_dir, args.gt_dir + '_openmmlab'])
+
+    if args.nproc > 1:
+        mmcv.track_parallel_progress(kitti_to_train_ids, ann_files, args.nproc)
+    else:
+        mmcv.track_progress(kitti_to_train_ids, ann_files)
+
+    copy_files = []
+    for f in mmcv.scandir(gt_dir, '.png', recursive=True):
+        original_f = osp.join(gt_dir, f).replace(args.gt_dir + '/train',
+                                                 'training/image_02')
+        new_f = osp.join(gt_dir, f).replace(args.gt_dir,
+                                            'training_openmmlab/image_02')
+        original_f = original_f.replace(args.gt_dir + '/val',
+                                        'training/image_02')
+        new_f = new_f.replace(args.gt_dir, 'training_openmmlab/image_02')
+        copy_files.append([original_f, new_f])
+
+    if args.nproc > 1:
+        mmcv.track_parallel_progress(copy_file, copy_files, args.nproc)
+    else:
+        mmcv.track_progress(copy_file, copy_files)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/requirements/docs.txt b/requirements/docs.txt
index 20170845c..308e5c48f 100644
--- a/requirements/docs.txt
+++ b/requirements/docs.txt
@@ -4,3 +4,4 @@ myst-parser
 sphinx==4.0.2
 sphinx_copybutton
 sphinx_markdown_tables
+urllib3<2.0.0