| # 数据集介绍 | |
| ## 简介 | |
| nuScenes数据集是一个大规模的自动驾驶数据集。该数据集具有用于在波士顿和新加坡收集的1000场景的3D边界框。每个场景长20秒，注释为2Hz。这导致总共28130个用于训练的样本，6019个用于验证的样本和6008个用于测试的样本。该数据集具有完整的自动驾驶车辆数据套件: 32光束激光雷达，6个摄像头和具有完整360 ° 覆盖的雷达。3D对象检测挑战评估10个类别的性能: 汽车，卡车，公共汽车，拖车，建筑车辆，行人，摩托车，自行车，交通锥和障碍物。 | |
| ## 类定义 | |
| ``` | |
| animal | |
| human.pedestrian.adult | |
| human.pedestrian.child | |
| human.pedestrian.construction_worker | |
| human.pedestrian.personal_mobility | |
| human.pedestrian.police_officer | |
| human.pedestrian.stroller | |
| human.pedestrian.wheelchair | |
| movable_object.barrier | |
| movable_object.debris | |
| movable_object.pushable_pullable | |
| movable_object.trafficcone | |
| static_object.bicycle_rack * | |
| vehicle.bicycle | |
| vehicle.bus.bendy | |
| vehicle.bus.rigid | |
| vehicle.car | |
| vehicle.construction | |
| vehicle.emergency.ambulance | |
| vehicle.emergency.police | |
| vehicle.motorcycle | |
| vehicle.trailer | |
| vehicle.truck | |
| flat.driveable_surface | |
| flat.other | |
| flat.sidewalk | |
| flat.terrain | |
| static.manmade | |
| static.other | |
| static.vegetation | |
| vehicle.ego | |
| noise | |
| ``` | |
| ## 引文 | |
| ``` | |
| @article{nuscenes2019, | |
| title={nuScenes: A multimodal dataset for autonomous driving}, | |
| author={Holger Caesar and Varun Bankiti and Alex H. Lang and Sourabh Vora and | |
| Venice Erin Liong and Qiang Xu and Anush Krishnan and Yu Pan and | |
| Giancarlo Baldan and Oscar Beijbom}, | |
| journal={arXiv preprint arXiv:1903.11027}, | |
| year={2019} | |
| } | |
| ``` | |
| |