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Datasets:
KTH
/
SynFlow

Tasks:
Other
Modalities:
3D
Languages:
English
ArXiv:
Tags:
scene-flow
lidar
autonomous-driving
carla
Synthetic
3d
License:
Dataset card Files
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  1. README.md +24 -13
  2. town-01-05/scene-0164000401.h5 +3 -0
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README.md CHANGED
@@ -1,5 +1,5 @@
1
  ---
2
- license: cc-by-nc-4.0
3
  task_categories:
4
  - other
5
  tags:
@@ -80,12 +80,23 @@ routes-xml/ # generate from our code, check: https://github.com/Kin-Zhang/SynFlo
80
 
81
  Here is the data split presented in our SynFlow paper Tab. 1, with the folder name and composition.
82
 
83
- | Split | # Annotated Frames | Folder Name | Composition |
84
  |:---:|:---:|:---:|:---:|
85
- | 1k | 271, 148 | `town-06-07-10` | Town06, 07, 10 arterials, complex junctions, rural roads |
86
- | 2k | 449,407 | `town-01-05` | Town01–05 roundabouts, multi-lane intersections |
87
- | 3k | 720,555 | `town-06-07-10` + `town-01-05` | Town06-07-10, Town01-05 |
88
- | 4k | 939,083 | `town-01-05` + `town-12` | Town01-05, Town12 |
 
 
 
 
 
 
 
 
 
 
 
89
 
90
  **File Naming Convention**
91
 
@@ -102,9 +113,12 @@ scene-{town_id}{channels}{route_id:04d}{scene_split:02d}.h5
102
 
103
  **Example:** `scene-0164004200.h5` → Town01, 64-beam LiDAR, route 42, split 0. Scenes with fewer than 120 valid frames are discarded during collection.
104
 
 
 
105
  ## Data Collection
106
 
107
- The data collection code can be found in [SynFlow](https://github.com/Kin-Zhang/SynFlow) github repository.
 
108
 
109
  | Property | Value |
110
  |---|---|
@@ -217,9 +231,6 @@ python train.py slurm_id=$SLURM_JOB_ID wandb_mode=online wandb_project_name=synf
217
 
218
  CARLA uses a left-handed coordinate system (LHS). All stored data is converted to a standard **right-handed system (RHS)** by flipping the Y axis on point coordinates, flow vectors, and the ego pose matrix. Point clouds and flow are expressed in the **LiDAR sensor frame** at frame *t*; `pose` gives the ego-to-world transform at frame *t*. -->
219
 
220
- ## Collection Code
221
-
222
- This dataset is generated by [OpenSF-CARLA](https://github.com/KTH-RPL/opensf-carla). See the repository for route generation, multi-instance collection (`run_all.py`), and configuration details.
223
 
224
  ## Citation
225
 
@@ -251,6 +262,6 @@ If you use this dataset, please cite our papers and acknowledge the CARLA simula
251
 
252
  ## License
253
 
254
- - **SynFlow-4k dataset** and checkpoints trained only on SynFlow-4k dataset are released under [CC BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/).
255
- - CARLA itself is subject to its own [license terms](https://carla.org/).
256
- - Checkpoints trained on SynFlow-4k + real-world dataset are released under [Argoverse 2](https://www.argoverse.org/about.html#terms-of-use), [Waymo Open Dataset](https://waymo.com/open/terms/), [nuScenes](https://www.nuscenes.org/terms-of-use) licenses. Please refer to the respective licenses for more details.
 
1
  ---
2
+ license: cc-by-4.0
3
  task_categories:
4
  - other
5
  tags:
 
80
 
81
  Here is the data split presented in our SynFlow paper Tab. 1, with the folder name and composition.
82
 
83
+ | Split | # Annotated Frames | Folder Name | Composition | Storage Size (GB) |
84
  |:---:|:---:|:---:|:---:|
85
+ | 1k | 271, 148 | `town-06-07-10` | Town06, 07, 10 arterials, complex junctions, rural roads | 214G |
86
+ | 2k | 449,407 | `town-01-05` | Town01–05 roundabouts, multi-lane intersections | 419G |
87
+ | 3k | 720,555 | `town-06-07-10` + `town-01-05` | Town06-07-10, Town01-05 | 633G |
88
+ | 4k | 939,083 | `town-01-05` + `town-12` | Town01-05, Town12 | TODO |
89
+
90
+ **Command for Download**
91
+
92
+ ```bash
93
+ # full
94
+ hf download KTH/SynFlow --repo-type dataset --local-dir ./SynFlow-data
95
+
96
+ # 1k split (for a quick training test) around 214G
97
+ hf download KTH/SynFlow --repo-type dataset --include "town-06-07-10/*" --local-dir ./SynFlow-data/town-06-07-10
98
+ ```
99
+
100
 
101
  **File Naming Convention**
102
 
 
113
 
114
  **Example:** `scene-0164004200.h5` → Town01, 64-beam LiDAR, route 42, split 0. Scenes with fewer than 120 valid frames are discarded during collection.
115
 
116
+
117
+
118
  ## Data Collection
119
 
120
+ This dataset is generated by [SynFlow-Github](https://github.com/Kin-Zhang/SynFlow).
121
+ See the repository for route generation, multi-instance collection, and configuration details.
122
 
123
  | Property | Value |
124
  |---|---|
 
231
 
232
  CARLA uses a left-handed coordinate system (LHS). All stored data is converted to a standard **right-handed system (RHS)** by flipping the Y axis on point coordinates, flow vectors, and the ego pose matrix. Point clouds and flow are expressed in the **LiDAR sensor frame** at frame *t*; `pose` gives the ego-to-world transform at frame *t*. -->
233
 
 
 
 
234
 
235
  ## Citation
236
 
 
262
 
263
  ## License
264
 
265
+ - **SynFlow-4k dataset** and checkpoints trained **only** on SynFlow-4k (e.g. `synflow-4k-longadp.ckpt`) are released under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). You are free to share, adapt, and use them for any purpose, including commercial use, as long as you provide appropriate credit (see [Citation](#citation)).
266
+ - This dataset was generated using the [CARLA](https://carla.org/) simulator. CARLA code is distributed under the [MIT License](https://github.com/carla-simulator/carla/blob/master/LICENSE); CARLA digital assets (maps, buildings, vehicles, etc.) are distributed under [CC BY](https://creativecommons.org/licenses/by/4.0/). Please cite CARLA when using this data.
267
+ - Checkpoints trained on SynFlow-4k **plus** real-world datasets (e.g. `synflow-real-longadp.ckpt`) remain subject to [Argoverse 2](https://www.argoverse.org/about.html#terms-of-use), [Waymo Open Dataset](https://waymo.com/open/terms/), and [nuScenes](https://www.nuscenes.org/terms-of-use) licenses. Please refer to the respective licenses for more details.
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