---
pretty_name: VisionDrive3D
license: mit
task_categories:
  - object-detection
  - image-segmentation
  - depth-estimation
tags:
  - synthetic
  - autonomous-driving
  - 3d-object-detection
  - kitti
  - coco
  - yolo
  - opengl
size_categories:
  - 1K<n<10K
---

# VisionDrive3D: Synthetic Driving Dataset

VisionDrive3D is a synthetic urban driving dataset rendered with a custom OpenGL engine.
Every scene comes with an RGB image, a dense metric depth map, a segmentation mask,
and annotations in **COCO**, **YOLO**, and **KITTI (3D)** formats. It also includes
per-scene camera parameters (intrinsics and extrinsics) and object metadata.

- **Code & project page:** https://github.com/BenBunBo/VisionDrive3D
- **File:** `VisonDrive3D_testdata.zip` (~1.1 GB compressed, ~6.6 GB extracted)

## Summary

| Property | Value |
|---|---|
| Scenes | 1,000 |
| Resolution | 1600 × 900 |
| Annotated class | `car` (2,585 instances) |
| Splits | train 800 / val 100 / test 100 |
| Modalities | RGB, depth (`float32`, metres), segmentation mask |
| Label formats | COCO JSON, YOLO TXT, KITTI 3D TXT |
| Camera | Pinhole, fx = fy = 1200, cx = 800, cy = 450, FOV 45°, near 0.1, far 150 |

## Installation

### 1. Download

**Option A: `hf` CLI (recommended)**

```bash
pip install -U huggingface_hub
hf download BenBunBo/VisionDrive3D VisonDrive3D_testdata.zip \
    --repo-type dataset --local-dir ./data
```

**Option B: Python**

```python
from huggingface_hub import hf_hub_download

zip_path = hf_hub_download(
    repo_id="BenBunBo/VisionDrive3D",
    filename="VisonDrive3D_testdata.zip",
    repo_type="dataset",
    local_dir="./data",
)
print(zip_path)
```

**Option C: Direct link / git**

```bash
wget https://huggingface.co/datasets/BenBunBo/VisionDrive3D/resolve/main/VisonDrive3D_testdata.zip
# or
git lfs install
git clone https://huggingface.co/datasets/BenBunBo/VisionDrive3D
```

### 2. Extract

The archive has no top-level folder, so extract it into its own directory:

```bash
mkdir -p data/output_dataset
unzip data/VisonDrive3D_testdata.zip -d data/output_dataset
```

```python
import zipfile
zipfile.ZipFile("data/VisonDrive3D_testdata.zip").extractall("data/output_dataset")
```

### 3. Verify

```bash
ls data/output_dataset
# depth  images  ImageSets  labels  masks  metadata  README.txt
ls data/output_dataset/images | wc -l    # 1000
wc -l data/output_dataset/ImageSets/*.txt # 800 / 100 / 100
```

### 4. Use with the VisionDrive3D code (optional)

```bash
git clone https://github.com/BenBunBo/VisionDrive3D
cd VisionDrive3D
# Put the extracted folder at ./output_dataset (the default path used by the scripts)
ln -s /path/to/data/output_dataset ./output_dataset
python src/ai_demo/run_all.py --dataset ./output_dataset
```

## Folder structure

```
output_dataset/
├── README.txt
├── images/              # RGB renders            scene_XXXXX.png  (1600×900, 8-bit RGB)
├── depth/               # Depth maps             scene_XXXXX.npy  (900×1600, float32, metres)
├── masks/               # Segmentation masks     scene_XXXXX.png  (1600×900, 8-bit RGB colour-coded)
├── labels/
│   ├── coco/            # COCO JSON              scene_XXXXX.json
│   ├── yolo/            # YOLO TXT               scene_XXXXX.txt
│   └── kitti/           # KITTI 3D TXT           scene_XXXXX.txt
├── metadata/
│   ├── scene_XXXXX.json # Camera + per-object metadata
│   └── dataset_log.csv  # One row per scene (camera position, depth range, #objects, ...)
└── ImageSets/
    ├── train.txt        # 800 scene ids
    ├── val.txt          # 100 scene ids
    └── test.txt         # 100 scene ids
```

Scenes are named `scene_00000` … `scene_00999`. Each file in `ImageSets/` lists one
5-digit id per line (e.g. `00042` → `scene_00042`).

## Annotation formats

**YOLO** (`labels/yolo/*.txt`): one object per line, normalised to [0, 1]:

```
<class_id> <x_center> <y_center> <width> <height>
0 0.976250 0.516667 0.047500 0.044444
```

Class `0` = `car`.

**COCO** (`labels/coco/*.json`): one JSON file per scene with `images`, `annotations`
(`bbox` as `[x, y, w, h]` in pixels, polygon `segmentation`, `area`) and `categories`.
The category list contains `car (0)`, `traffic_light (1)`, `traffic_sign (2)`,
`pedestrian (3)` and `entity (99)`, but only `car` is annotated in this release.
Note: `images[].file_name` has the `output_dataset/` prefix, e.g.
`output_dataset/images/scene_00000.png`.

**KITTI** (`labels/kitti/*.txt`): standard KITTI object label format, 15 fields per line:

```
type truncated occluded alpha  x1 y1 x2 y2  h w l  x y z  rotation_y
Car  1.00      0        2.15   1524 445 1600 485  1.88 2.16 4.88  37.32 1.66 56.71  1.57
```

Dimensions and location are in metres in camera coordinates. The camera intrinsics are
in `metadata/scene_XXXXX.json` → `camera.intrinsic_matrix`.

**Depth** (`depth/*.npy`): `float32` array of shape `(900, 1600)` with per-pixel depth
in metres, clipped to the far plane (150 m).

**Metadata** (`metadata/scene_XXXXX.json`): `scene_id`, `timestamp`, `image_path`,
`camera` (`position`, `target`, `up`, `fov_deg`, `near`, `far`, `intrinsic_matrix`,
`extrinsic_matrix`), `objects` (class, world pose, scale, 2D/3D boxes, visibility,
occlusion ratio), `render_config`, and `stats`.

## Quick start

```python
import json
import numpy as np
from PIL import Image

root = "data/output_dataset"
sid = "scene_00000"

rgb   = np.array(Image.open(f"{root}/images/{sid}.png"))   # (900, 1600, 3) uint8
depth = np.load(f"{root}/depth/{sid}.npy")                  # (900, 1600) float32, metres
mask  = np.array(Image.open(f"{root}/masks/{sid}.png"))    # (900, 1600, 3) uint8
meta  = json.load(open(f"{root}/metadata/{sid}.json"))
K     = np.array(meta["camera"]["intrinsic_matrix"])        # 3×3

with open(f"{root}/labels/yolo/{sid}.txt") as f:
    boxes = [list(map(float, line.split())) for line in f]

train_ids = open(f"{root}/ImageSets/train.txt").read().split()
print(rgb.shape, depth.min(), depth.max(), len(boxes), len(train_ids))
```

**Train YOLO (Ultralytics)**: write a `data.yaml` that points at the split lists:

```python
from pathlib import Path

root = Path("data/output_dataset").resolve()
for split in ["train", "val", "test"]:
    ids = (root / "ImageSets" / f"{split}.txt").read_text().split()
    (root / f"{split}_images.txt").write_text(
        "\n".join(str(root / "images" / f"scene_{i}.png") for i in ids)
    )
```

YOLO looks for labels next to the images (`images/` → `labels/`), so copy or symlink
`labels/yolo/*.txt` into a sibling `labels/` folder of the image directory, or use the
conversion scripts in the GitHub repo.

## Citation

```bibtex
@misc{visiondrive3d2026,
  title  = {VisionDrive3D: Synthetic Driving Data for Detection and Segmentation},
  author = {BenBunBo},
  year   = {2026},
  howpublished = {\url{https://huggingface.co/datasets/BenBunBo/VisionDrive3D}}
}
```