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Datasets/nuScenes

nuScenes

3DImagesLiDARPoint cloudTrackingCustom (CC BY-NC-SA 4.0 with exceptions for startups and research; separate commercial licenses)Introduced 2019-03-26

The nuScenes dataset is a large-scale autonomous driving dataset. The dataset has 3D bounding boxes for 1000 scenes collected in Boston and Singapore. Each scene is 20 seconds long and annotated at 2Hz. This results in a total of 28130 samples for training, 6019 samples for validation and 6008 samples for testing. The dataset has the full autonomous vehicle data suite: 32-beam LiDAR, 6 cameras and radars with complete 360° coverage. The 3D object detection challenge evaluates the performance on 10 classes: cars, trucks, buses, trailers, construction vehicles, pedestrians, motorcycles, bicycles, traffic cones and barriers.

Source: PointPainting: Sequential Fusion for 3D Object Detection

Benchmarks

10-shot image generation/mIoU 10-shot image generation/mIoU (0.5% Labels)10-shot image generation/mIoU (1% Labels)10-shot image generation/mIoU (2% Labels)10-shot image generation/mIoU (5% Labels)10-shot image generation/mIoU (10% Labels)10-shot image generation/mIoU (20% Labels)10-shot image generation/mIoU (50% Labels)10-shot image generation/IoU veh - 224x480 - Vis filter. - 100x100 at 0.5 10-shot image generation/IoU veh - 448x800 - Vis filter. - 100x100 at 0.5 10-shot image generation/IoU veh - 224x480 - No vis filter - 100x100 at 0.5 10-shot image generation/IoU veh - 448x800 - No vis filter - 100x100 at 0.5 10-shot image generation/IoU ped - 224x480 - Vis filter. - 100x100 at 0.5 10-shot image generation/IoU lane - 224x480 - 100x100 at 0.5 10-shot image generation/IoU veh - 224x480 - No vis filter - 100x50 at 0.25 10-shot image generation/IoU vehicle - Setting 3 16k/AP(l)16k/AP(m)16k/AP(s)16k/AP50 16k/AP75 16k/AP85 16k/AR 16k/AR(l)16k/AR(m)16k/AR(s)16k/MAP 16k/NDS 16k/mAP 16k/mATE 16k/mASE 16k/mAOE 16k/mAVE 16k/mAAE 2D Classification/AP(l)2D Classification/AP(m)2D Classification/AP(s)2D Classification/AP50 2D Classification/AP75 2D Classification/AP85 2D Classification/AR 2D Classification/AR(l)2D Classification/AR(m)2D Classification/AR(s)2D Classification/MAP 2D Classification/NDS 2D Classification/mAP 2D Classification/mATE 2D Classification/mASE 2D Classification/mAOE 2D Classification/mAVE 2D Classification/mAAE 2D Object Detection/AP(l)2D Object Detection/AP(m)2D Object Detection/AP(s)2D Object Detection/AP50 2D Object Detection/AP75 2D Object Detection/AP85 2D Object Detection/AR 2D Object Detection/AR(l)2D Object Detection/AR(m)2D Object Detection/AR(s)2D Object Detection/MAP 2D Object Detection/NDS 2D Object Detection/mAP 2D Object Detection/mATE 2D Object Detection/mASE 2D Object Detection/mAOE 2D Object Detection/mAVE 2D Object Detection/mAAE 3D/AP(l)3D/AP(m)3D/AP(s)3D/AP50 3D/AP75 3D/AP85 3D/AR 3D/AR(l)3D/AR(m)3D/AR(s)3D/MAP 3D/NDS 3D/mAP 3D/mATE 3D/mASE 3D/mAOE 3D/mAVE 3D/mAAE 3D Multi-Object Tracking/AMOTA 3D Multi-Object Tracking/MOTA 3D Multi-Object Tracking/Recall 3D Object Detection/NDS 3D Object Detection/mAP 3D Object Detection/mATE 3D Object Detection/mASE 3D Object Detection/mAOE 3D Object Detection/mAVE 3D Object Detection/mAAE 3D Semantic Segmentation/mIoU Autonomous Vehicles/IoU Autonomous Vehicles/F1 score Bird's-Eye View Semantic Segmentation/IoU veh - 224x480 - Vis filter. - 100x100 at 0.5 Bird's-Eye View Semantic Segmentation/IoU veh - 448x800 - Vis filter. - 100x100 at 0.5 Bird's-Eye View Semantic Segmentation/IoU veh - 224x480 - No vis filter - 100x100 at 0.5 Bird's-Eye View Semantic Segmentation/IoU veh - 448x800 - No vis filter - 100x100 at 0.5 Bird's-Eye View Semantic Segmentation/IoU ped - 224x480 - Vis filter. - 100x100 at 0.5 Bird's-Eye View Semantic Segmentation/IoU lane - 224x480 - 100x100 at 0.5 Bird's-Eye View Semantic Segmentation/IoU veh - 224x480 - No vis filter - 100x50 at 0.25 Bird's-Eye View Semantic Segmentation/IoU vehicle - Setting 3 HD semantic map learning/Chamfer AP Industrial Robots/Collision-3s Industrial Robots/L2-3s Industrial Robots/Collision-1s Industrial Robots/Collision-2s Industrial Robots/Collision-Avg Industrial Robots/L2-1s Industrial Robots/L2-2s Industrial Robots/L2-Avg Instance Segmentation/MOTA LIDAR Semantic Segmentation/test mIoU LIDAR Semantic Segmentation/val mIoU Lane Detection/IoU Lane Detection/F1 score Motion Detection/F1 (%)Motion Planning/Collision Motion Planning/L2 Multi-Object Tracking/AMOTA Multi-Object Tracking/MOTA Multi-Object Tracking/Recall Object Detection/AP(l)Object Detection/AP(m)Object Detection/AP(s)Object Detection/AP50 Object Detection/AP75 Object Detection/AP85 Object Detection/AR Object Detection/AR(l)Object Detection/AR(m)Object Detection/AR(s)Object Detection/MAP Object Detection/NDS Object Detection/mAP Object Detection/mATE Object Detection/mASE Object Detection/mAOE Object Detection/mAVE Object Detection/mAAE Object Tracking/AMOTA Object Tracking/MOTA Object Tracking/Recall Prediction Of Occupancy Grid Maps/mIoU Semantic Segmentation/mIoU Semantic Segmentation/mIoU (0.5% Labels)Semantic Segmentation/mIoU (1% Labels)Semantic Segmentation/mIoU (2% Labels)Semantic Segmentation/mIoU (5% Labels)Semantic Segmentation/mIoU (10% Labels)Semantic Segmentation/mIoU (20% Labels)Semantic Segmentation/mIoU (50% Labels)Semantic Segmentation/IoU veh - 224x480 - Vis filter. - 100x100 at 0.5 Semantic Segmentation/IoU veh - 448x800 - Vis filter. - 100x100 at 0.5 Semantic Segmentation/IoU veh - 224x480 - No vis filter - 100x100 at 0.5 Semantic Segmentation/IoU veh - 448x800 - No vis filter - 100x100 at 0.5 Semantic Segmentation/IoU ped - 224x480 - Vis filter. - 100x100 at 0.5 Semantic Segmentation/IoU lane - 224x480 - 100x100 at 0.5 Semantic Segmentation/IoU veh - 224x480 - No vis filter - 100x50 at 0.25 Semantic Segmentation/IoU vehicle - Setting 3 Trajectory Planning/Collision-3s Trajectory Planning/L2-3s Trajectory Planning/Collision-1s Trajectory Planning/Collision-2s Trajectory Planning/Collision-Avg Trajectory Planning/L2-1s Trajectory Planning/L2-2s Trajectory Planning/L2-Avg Trajectory Prediction/MinADE_5 Trajectory Prediction/MinADE_10 Trajectory Prediction/MissRateTopK_2_5 Trajectory Prediction/MissRateTopK_2_10 Trajectory Prediction/MinFDE_1 Trajectory Prediction/OffRoadRate

Related Benchmarks

nuScenes (Distant PCR)/3D Point Cloud Interpolation/RR @ Loose Criterion (5°&2m), on LoNuScenes nuScenes (Distant PCR)/3D Point Cloud Interpolation/mRR @ Normal Criterion (1.5°&0.3m)nuScenes (Distant PCR)/Point Cloud Registration/RR @ Loose Criterion (5°&2m), on LoNuScenes nuScenes (Distant PCR)/Point Cloud Registration/mRR @ Normal Criterion (1.5°&0.3m)nuScenes Camera Only/16k/Future Frame nuScenes Camera Only/16k/NDS nuScenes Camera Only/2D Classification/Future Frame nuScenes Camera Only/2D Classification/NDS nuScenes Camera Only/2D Object Detection/Future Frame nuScenes Camera Only/2D Object Detection/NDS nuScenes Camera Only/3D/Future Frame nuScenes Camera Only/3D/NDS nuScenes Camera Only/3D Multi-Object Tracking/AMOTA nuScenes Camera Only/3D Object Detection/Future Frame nuScenes Camera Only/3D Object Detection/NDS nuScenes Camera Only/Multi-Object Tracking/AMOTA nuScenes Camera Only/Object Detection/Future Frame nuScenes Camera Only/Object Detection/NDS nuScenes Camera Only/Object Tracking/AMOTA nuScenes Camera Only/Online Vectorized HD Map Construction/Average mAP nuScenes Cars/16k/AOE nuScenes Cars/16k/AP 0.5m nuScenes Cars/16k/AP 1.0m nuScenes Cars/16k/AP 2.0m nuScenes Cars/16k/AP 4.0m nuScenes Cars/16k/ASE nuScenes Cars/16k/ATE nuScenes Cars/2D Classification/AOE nuScenes Cars/2D Classification/AP 0.5m nuScenes Cars/2D Classification/AP 1.0m nuScenes Cars/2D Classification/AP 2.0m nuScenes Cars/2D Classification/AP 4.0m nuScenes Cars/2D Classification/ASE nuScenes Cars/2D Classification/ATE nuScenes Cars/2D Object Detection/AOE nuScenes Cars/2D Object Detection/AP 0.5m nuScenes Cars/2D Object Detection/AP 1.0m nuScenes Cars/2D Object Detection/AP 2.0m nuScenes Cars/2D Object Detection/AP 4.0m nuScenes Cars/2D Object Detection/ASE nuScenes Cars/2D Object Detection/ATE nuScenes Cars/3D/AOE nuScenes Cars/3D/AP 0.5m nuScenes Cars/3D/AP 1.0m nuScenes Cars/3D/AP 2.0m nuScenes Cars/3D/AP 4.0m nuScenes Cars/3D/ASE nuScenes Cars/3D/ATE nuScenes Cars/Object Detection/AOE nuScenes Cars/Object Detection/AP 0.5m nuScenes Cars/Object Detection/AP 1.0m nuScenes Cars/Object Detection/AP 2.0m nuScenes Cars/Object Detection/AP 4.0m nuScenes Cars/Object Detection/ASE nuScenes Cars/Object Detection/ATE nuScenes LiDAR only/16k/NDS nuScenes LiDAR only/16k/NDS (val)nuScenes LiDAR only/16k/mAP nuScenes LiDAR only/16k/mAP (val)nuScenes LiDAR only/2D Classification/NDS nuScenes LiDAR only/2D Classification/NDS (val)nuScenes LiDAR only/2D Classification/mAP nuScenes LiDAR only/2D Classification/mAP (val)nuScenes LiDAR only/2D Object Detection/NDS nuScenes LiDAR only/2D Object Detection/NDS (val)nuScenes LiDAR only/2D Object Detection/mAP nuScenes LiDAR only/2D Object Detection/mAP (val)nuScenes LiDAR only/3D/NDS nuScenes LiDAR only/3D/NDS (val)nuScenes LiDAR only/3D/mAP nuScenes LiDAR only/3D/mAP (val)nuScenes LiDAR only/3D Multi-Object Tracking/AMOTA nuScenes LiDAR only/3D Object Detection/NDS nuScenes LiDAR only/3D Object Detection/NDS (val)nuScenes LiDAR only/3D Object Detection/mAP nuScenes LiDAR only/3D Object Detection/mAP (val)nuScenes LiDAR only/Multi-Object Tracking/AMOTA nuScenes LiDAR only/Object Detection/NDS nuScenes LiDAR only/Object Detection/NDS (val)nuScenes LiDAR only/Object Detection/mAP nuScenes LiDAR only/Object Detection/mAP (val)nuScenes LiDAR only/Object Tracking/AMOTA nuScenes validation set/Autonomous Driving/AMOTA nuScenes validation set/Autonomous Vehicles/AMOTA nuScenes-C/10-shot image generation/mean Corruption Error (mCE)nuScenes-C/16k/mean Corruption Error (mCE)nuScenes-C/2D Classification/mean Corruption Error (mCE)nuScenes-C/2D Object Detection/mean Corruption Error (mCE)nuScenes-C/3D/mean Corruption Error (mCE)nuScenes-C/3D Object Detection/mean Corruption Error (mCE)nuScenes-C/3D Semantic Segmentation/mean Corruption Error (mCE)nuScenes-C/Object Detection/mean Corruption Error (mCE)nuScenes-C/Semantic Segmentation/mean Corruption Error (mCE)nuScenes-F/16k/AP nuScenes-F/16k/AP50 nuScenes-F/16k/AP75 nuScenes-F/16k/AR nuScenes-F/16k/ARI nuScenes-F/16k/ARm nuScenes-F/16k/ARs nuScenes-F/2D Classification/AP nuScenes-F/2D Classification/AP50 nuScenes-F/2D Classification/AP75 nuScenes-F/2D Classification/AR nuScenes-F/2D Classification/ARI nuScenes-F/2D Classification/ARm nuScenes-F/2D Classification/ARs nuScenes-F/2D Object Detection/AP nuScenes-F/2D Object Detection/AP50 nuScenes-F/2D Object Detection/AP75 nuScenes-F/2D Object Detection/AR nuScenes-F/2D Object Detection/ARI nuScenes-F/2D Object Detection/ARm nuScenes-F/2D Object Detection/ARs nuScenes-F/3D/AP nuScenes-F/3D/AP50 nuScenes-F/3D/AP75 nuScenes-F/3D/AR nuScenes-F/3D/ARI nuScenes-F/3D/ARm nuScenes-F/3D/ARs nuScenes-F/3D Object Detection/AP nuScenes-F/3D Object Detection/AP50 nuScenes-F/3D Object Detection/AP75 nuScenes-F/3D Object Detection/AR nuScenes-F/3D Object Detection/ARI nuScenes-F/3D Object Detection/ARm nuScenes-F/3D Object Detection/ARs nuScenes-F/Object Detection/AP nuScenes-F/Object Detection/AP50 nuScenes-F/Object Detection/AP75 nuScenes-F/Object Detection/AR nuScenes-F/Object Detection/ARI nuScenes-F/Object Detection/ARm nuScenes-F/Object Detection/ARs nuScenes-FB/16k/AP nuScenes-FB/16k/AP50 nuScenes-FB/16k/AP75 nuScenes-FB/16k/AR nuScenes-FB/16k/ARI nuScenes-FB/16k/ARm nuScenes-FB/16k/ARs nuScenes-FB/2D Classification/AP nuScenes-FB/2D Classification/AP50 nuScenes-FB/2D Classification/AP75 nuScenes-FB/2D Classification/AR nuScenes-FB/2D Classification/ARI nuScenes-FB/2D Classification/ARm nuScenes-FB/2D Classification/ARs nuScenes-FB/2D Object Detection/AP nuScenes-FB/2D Object Detection/AP50 nuScenes-FB/2D Object Detection/AP75 nuScenes-FB/2D Object Detection/AR nuScenes-FB/2D Object Detection/ARI nuScenes-FB/2D Object Detection/ARm nuScenes-FB/2D Object Detection/ARs nuScenes-FB/3D/AP nuScenes-FB/3D/AP50 nuScenes-FB/3D/AP75 nuScenes-FB/3D/AR nuScenes-FB/3D/ARI nuScenes-FB/3D/ARm nuScenes-FB/3D/ARs nuScenes-FB/3D Object Detection/AP nuScenes-FB/3D Object Detection/AP50 nuScenes-FB/3D Object Detection/AP75 nuScenes-FB/3D Object Detection/AR nuScenes-FB/3D Object Detection/ARI nuScenes-FB/3D Object Detection/ARm nuScenes-FB/3D Object Detection/ARs nuScenes-FB/Object Detection/AP nuScenes-FB/Object Detection/AP50 nuScenes-FB/Object Detection/AP75 nuScenes-FB/Object Detection/AR nuScenes-FB/Object Detection/ARI nuScenes-FB/Object Detection/ARm nuScenes-FB/Object Detection/ARs nuScenes-to-Pandaset/Domain Adaptation/mIoU nuScenes-to-Pandaset/Source-Free Domain Adaptation/mIoU nuScenes-to-SemanticKITTI/Domain Adaptation/mIoU nuScenes-to-SemanticKITTI/Source-Free Domain Adaptation/mIoU nuScenes-to-SemanticPOSS/Domain Adaptation/mIoU nuScenes-to-SemanticPOSS/Source-Free Domain Adaptation/mIoU nuScenes-to-Waymo Open Dataset/Domain Adaptation/mIoU nuScenes-to-Waymo Open Dataset/Source-Free Domain Adaptation/mIoU nuscenes Camera-Radar/16k/NDS nuscenes Camera-Radar/2D Classification/NDS nuscenes Camera-Radar/2D Object Detection/NDS nuscenes Camera-Radar/3D/NDS nuscenes Camera-Radar/3D Multi-Object Tracking/AMOTA nuscenes Camera-Radar/3D Object Detection/NDS nuscenes Camera-Radar/Multi-Object Tracking/AMOTA nuscenes Camera-Radar/Object Detection/NDS nuscenes Camera-Radar/Object Tracking/AMOTA

Statistics

Papers: 2,139
Benchmarks: 181

Links

Tasks

10-shot image generation 16k 2D Classification 2D Object Detection 3D 3D Multi-Object Tracking 3D Object Detection 3D Semantic Segmentation Autonomous Vehicles Bird's-Eye View Semantic Segmentation HD semantic map learning Industrial Robots Instance Segmentation LIDAR Semantic Segmentation Lane Detection Monocular 3D Object Detection Motion Detection Motion Planning Multi-Object Tracking Object Detection Object Tracking Online Vectorized HD Map Construction Prediction Of Occupancy Grid Maps Semantic Segmentation Semi-Supervised Semantic Segmentation Trajectory Planning Trajectory Prediction Weakly supervised Semantic Segmentation Weather Forecasting