센서 데이터
- 1 mid-range lidar
- 4 short-range lidars
- 5 cameras (front and sides)
- Synchronized lidar and camera data
- Lidar to camera projections
- Sensor calibrations and vehicle poses
Labeled data
- Labels for 4 object classes - Vehicles, Pedestrians, Cyclists, Signs
- High-quality labels for lidar data in all 1,000 segments
- 12M 3D bounding box labels with tracking IDs on lidar data
- High-quality labels for camera data in 100 segments (more to be added soon)
- 1.2M 2D bounding box labels with tracking IDs on camera data
환경 : Downtown, Suburban, Daylight, Night Time, Pedestrians, Cyclists, Construction, Diverse Weather