Video
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stringclasses 1
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stringlengths 57
529
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stringclasses 5
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stringlengths 4
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
000148.mp4
|
Omni6DPose
|
Dimensional Measurement
|
Single Choice
|
What is the most likely minimum relative distance between a small brown ukulele with white trim and a large metal cleaver with a wooden handle in the given frame? (unit: cm, °)
|
Objects: A small brown ukulele with white trim. and A large metal cleaver with a wooden handle.
| 0
| 0
|
{
"A": "15.03cm",
"B": "18.94cm",
"C": "22.53cm",
"D": "17.72cm",
"E": "16.53cm"
}
|
D
|
17.72cm
| 1
|
desktop
|
000148.mp4
|
Omni6DPose
|
3D Video Grounding
|
Single Choice
|
Given a single frame, determine the 3D bounding box localization for a white hair dryer with a sleek design, including its dimensions, central point, and orientation in terms of yaw, pitch, and roll. Choose the option that matches the ground truth. (unit: cm, °)
|
Object description: A white hair dryer with a sleek design.
| 20
| 20
|
{
"A": "{\"dimensions\": [18.25, 22.55, 7.34], \"central_point\": [31.46, 5.85, 120.92], \"orientation\": {\"yaw\": 173.24, \"pitch\": 10.58, \"roll\": 21.80}}",
"B": "{\"dimensions\": [17.82, 23.17, 7.07], \"central_point\": [30.76, 5.59, 121.35], \"orientation\": {\"yaw\": 164.49, \"pitch\": 3.58, \"roll\": 18.30}}",
"C": "{\"dimensions\": [16.50, 22.73, 6.98], \"central_point\": [30.41, 6.12, 121.27], \"orientation\": {\"yaw\": 160.11, \"pitch\": 12.33, \"roll\": 15.68}}",
"D": "{\"dimensions\": [17.38, 22.99, 7.16], \"central_point\": [31.02, 5.68, 121.09], \"orientation\": {\"yaw\": 168.86, \"pitch\": 7.96, \"roll\": 20.05}}",
"E": "{\"dimensions\": [18.69, 22.29, 7.25], \"central_point\": [31.20, 5.42, 120.74], \"orientation\": {\"yaw\": 177.61, \"pitch\": 4.46, \"roll\": 24.43}}"
}
|
D
|
{"dimensions": [17.38, 22.99, 7.16], "central_point": [31.02, 5.68, -121.09], "orientation": {"yaw": 168.86, "pitch": 7.96, "roll": 20.05}}
| 2
|
desktop
|
000149.mp4
|
Omni6DPose
|
Displacement & Path Length
|
Single Choice
|
What is the camera's displacement between 19s and 31s? (unit: m)
| 19
| 31
|
{
"A": "1.33m",
"B": "0.99m",
"C": "0.63m",
"D": "1.17m",
"E": "1.26m"
}
|
B
|
0.99m
| 0
|
desktop
|
|
000149.mp4
|
Omni6DPose
|
Speed & Acceleration
|
Single Choice
|
What is the camera's instantaneous speed around t=19s? (unit: m/s)
| 19
| 19
|
{
"A": "0.12m/s",
"B": "0.21m/s",
"C": "0.24m/s",
"D": "0.23m/s",
"E": "0.10m/s"
}
|
E
|
0.10m/s
| 1
|
desktop
|
|
000149.mp4
|
Omni6DPose
|
Pose Estimation
|
Single Choice
|
Given the initial pose at t=0s: {"Tx": 0.0, "Ty": 0.0, "Tz": 0.0, "r11": 1.0, "r12": 0.0, "r13": 0.0, "r21": 0.0, "r22": 1.0, "r23": 0.0, "r31": 0.0, "r32": 0.0, "r33": 1.0}, what is the camera pose at t=9s?
| 0
| 9
|
{
"A": "{\"Tx\": -0.06, \"Ty\": 0.39, \"Tz\": -0.18, \"r11\": 0.89, \"r12\": 0.45, \"r13\": 0.02, \"r21\": -0.42, \"r22\": 0.83, \"r23\": 0.36, \"r31\": 0.15, \"r32\": -0.33, \"r33\": 0.93}",
"B": "{\"Tx\": -0.09, \"Ty\": 0.35, \"Tz\": -0.21, \"r11\": 0.94, \"r12\": 0.34, \"r13\": 0.09, \"r21\": -0.35, \"r22\": 0.86, \"r23\": 0.36, \"r31\": 0.05, \"r32\": -0.37, \"r33\": 0.93}",
"C": "{\"Tx\": -0.04, \"Ty\": 0.38, \"Tz\": -0.22, \"r11\": 0.9, \"r12\": 0.39, \"r13\": -0.18, \"r21\": -0.36, \"r22\": 0.91, \"r23\": 0.18, \"r31\": 0.24, \"r32\": -0.1, \"r33\": 0.97}",
"D": "{\"Tx\": -0.13, \"Ty\": 0.4, \"Tz\": -0.19, \"r11\": 0.93, \"r12\": 0.3, \"r13\": -0.22, \"r21\": -0.26, \"r22\": 0.95, \"r23\": 0.19, \"r31\": 0.26, \"r32\": -0.12, \"r33\": 0.96}",
"E": "{\"Tx\": -0.02, \"Ty\": 0.38, \"Tz\": -0.19, \"r11\": 0.73, \"r12\": 0.69, \"r13\": -0.05, \"r21\": -0.6, \"r22\": 0.67, \"r23\": 0.44, \"r31\": 0.33, \"r32\": -0.29, \"r33\": 0.9}"
}
|
A
|
{"Tx": -0.06, "Ty": 0.39, "Tz": -0.18, "r11": 0.89, "r12": 0.45, "r13": 0.02, "r21": -0.42, "r22": 0.83, "r23": 0.36, "r31": 0.15, "r32": -0.33, "r33": 0.93}
| 2
|
desktop
|
|
000149.mp4
|
Omni6DPose
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate height of the pink thermos jug with a curved handle? (unit: cm, °)
|
Object description: A pink thermos jug with a curved handle.
| 0
| 32.5
|
{
"A": "19.09cm",
"B": "22.99cm",
"C": "16.67cm",
"D": "24.98cm",
"E": "21.51cm"
}
|
D
|
Object dimensions (L, W, H): 18.41cm, 14.56cm, 24.98cm
| 3
|
desktop
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of a white utility truck with a bucket lift?
|
Object description: A white utility truck with a bucket lift.
| 8
| 11.6
|
{
"A": "5.65m",
"B": "8.46m",
"C": "9.86m",
"D": "7.80m",
"E": "6.58m"
}
|
D
|
7.75m, 3.07m, 2.86m
| 0
|
outdoor
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the white utility truck with a bucket lift over the specified time interval? (at 9s)
|
Object description: A white utility truck with a bucket lift.
| 9
| 9
|
{
"A": "0.00m/s",
"B": "0.10m/s",
"C": "0.20m/s",
"D": "0.40m/s",
"E": "0.60m/s"
}
|
A
|
0.00m/s
| 1
|
outdoor
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the orange construction trailer with striped barricades over the specified time interval? (at 14s)
|
Object description: Orange construction trailer with striped barricades.
| 14
| 14
|
{
"A": "0.00m/s²",
"B": "0.20m/s²",
"C": "0.40m/s²",
"D": "0.60m/s²",
"E": "0.80m/s²"
}
|
A
|
0.00m/s²
| 2
|
outdoor
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video?
| 0
| 19.7
|
{
"A": "10°",
"B": "5°",
"C": "12°",
"D": "7°",
"E": "0°"
}
|
E
|
-3.63°
| 3
|
outdoor
|
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
Which option best describes the camera's movement trajectory?
| 0
| 19.7
|
{
"A": "move forward 340m",
"B": "move forward 300m, then turn left 90°",
"C": "move forward 350m, then turn right 75°",
"D": "move forward 340m, then turn right 60°",
"E": "move forward 340m, then turn left 80°"
}
|
A
|
move forward 343.40m
| 4
|
outdoor
|
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box parameters of the white utility truck with a bucket lift in camera coordinates at the frame where it first co-occurs with the orange construction trailer with striped barricades?
|
Target object description: A white utility truck with a bucket lift.; Condition object description: Orange construction trailer with striped barricades.
| 11
| 11
|
{
"A": "{\"C_lwh\": [8.00, 3.00.00, 3], \"C_central_point\": [23.31, 8.31, 1.25], \"C_heading\": -180.00}",
"B": "{\"C_lwh\": [8.62, 3.62, 3.62], \"C_central_point\": [23.62, 8.62, 1.56], \"C_heading\": -180.00}",
"C": "{\"C_lwh\": [8.00.00, 3.00.00, 3], \"C_central_point\": [23.00, 8, -1.00], \"C_heading\": -180.00}",
"D": "{\"C_lwh\": [8.94, 3.94, 3.94], \"C_central_point\": [23.94, 8.94, 1.88], \"C_heading\": -180.00}",
"E": "{\"C_lwh\": [8.00.31.00, 3.31, 3.31], \"C_central_point\": [23.00, 8, -1], \"C_heading\": -180.00}"
}
|
C
|
{"C_lwh": [7.75, 3.07, 2.86], "C_central_point": [23.0, 8.16, -0.54], "C_heading": -179.68}
| 5
|
outdoor
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the orange construction trailer with striped barricades at the frame where it first co-occurs with the truck with flashing arrow signs?
|
Target object description: Orange construction trailer with striped barricades.; Condition object description: Truck with flashing arrow signs.
| 13
| 13
|
{
"A": "{\"C_lwh\": [2.80, 2.00, 2.20], \"C_central_point\": [51.33, 7.60, 1.20], \"C_heading\": 10.20}",
"B": "{\"C_lwh\": [2.80, 2.00, 2.20], \"C_central_point\": [50.70, 7.60, 1.20], \"C_heading\": 10.20}",
"C": "{\"C_lwh\": [2.80, 2.00, 2.20], \"C_central_point\": [50.70, 7.28, 1.20], \"C_heading\": 10.20}",
"D": "{\"C_lwh\": [2.80, 2.00, 2.20], \"C_central_point\": [50.70, 7.60, 1.68], \"C_heading\": 10.20}",
"E": "{\"C_lwh\": [2.80, 2.00, 2.20], \"C_central_point\": [50.08, 7.60, 1.20], \"C_heading\": 10.20}"
}
|
B
|
{"C_lwh": [2.83, 2.01, 2.2], "C_central_point": [50.73, -7.56, -1.22], "C_heading": -10.17}
| 6
|
outdoor
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the orientation of the camera mounted on the moving car relative to the car's forward direction?
|
Object description: A white utility truck with a bucket lift.
| 0
| 19.7
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 7
|
outdoor
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the white car relative to the black car?
| 19.8
| 19.8
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
A
|
Left
| 8
|
outdoor
|
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the black car relative to the white car?
| 19.8
| 19.8
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
B
|
Right
| 9
|
outdoor
|
|
10203656353524179475_7625_000_7645_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames?
| 0
| 19.7
|
{
"A": "367.97m",
"B": "331.37m",
"C": "359.32m",
"D": "350.00m",
"E": "345.34m"
}
|
D
|
346.79m
| 10
|
outdoor
|
|
1024360143612057520_3580_000_3600_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of a woman in a black coat with white sneakers over the specified time interval?
|
Object description: A woman in a black coat with white sneakers.
| 2.8
| 9.3
|
{
"A": "0.40m/s",
"B": "0.76m/s",
"C": "2.55m/s",
"D": "2.02m/s",
"E": "1.30m/s"
}
|
E
|
1.33m/s
| 0
|
outdoor
|
1024360143612057520_3580_000_3600_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
Which option correctly localizes the 3D bounding box of a woman in a black coat with white sneakers from a single frame in camera coordinates?
|
Object description: A woman in a black coat with white sneakers.
| 4
| 4
|
{
"A": "{\"C_lwh\": [1.10, 0.80, 1.80], \"C_central_point\": [7.80, 3.10, 2.30], \"C_heading\": 94.10}",
"B": "{\"C_lwh\": [1.10, 0.80, 1.80], \"C_central_point\": [7.80, 3.10, 1.30], \"C_heading\": 94.10}",
"C": "{\"C_lwh\": [1.10, 0.80, 1.80], \"C_central_point\": [8.80, 3.10, 1.30], \"C_heading\": 94.10}",
"D": "{\"C_lwh\": [1.10, 0.80, 1.80], \"C_central_point\": [7.80, 4.10, 1.30], \"C_heading\": 94.10}",
"E": "{\"C_lwh\": [1.10, 0.80, 1.80], \"C_central_point\": [7.80, 3.10, 1.50], \"C_heading\": 94.10}"
}
|
B
|
{"C_lwh": [1.09, 0.81, 1.81], "C_central_point": [7.83, -3.14, -1.26], "C_heading": 94.06}
| 1
|
outdoor
|
1024360143612057520_3580_000_3600_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -25210.14, "ty": 42390.0, "tz": -158.51, "r11": 0.72, "r12": 0.69, "r13": 0.02, "r21": -0.69, "r22": 0.72, "r23": 0.01, "r31": -0.01, "r32": -0.02, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video for the specific frame at the first second, and match the ground truth. (at 14s)
| 14
| 14
|
{
"A": "{\"tx\": -25216.35, \"ty\": 42395.0, \"tz\": -165.4, \"r11\": 0.68, \"r12\": 0.73, \"r13\": 0.04, \"r21\": -0.73, \"r22\": 0.68, \"r23\": -0.03, \"r31\": 0.05, \"r32\": 0.00, \"r33\": 0.98}",
"B": "{\"tx\": -25211.35, \"ty\": 42388.0, \"tz\": -160.4, \"r11\": 0.74, \"r12\": 0.67, \"r13\": -0.02, \"r21\": -0.67, \"r22\": 0.74, \"r23\": 0.04, \"r31\": 0.02, \"r32\": -0.03, \"r33\": 1.0}",
"C": "{\"tx\": -25219.35, \"ty\": 42392.0, \"tz\": -168.4, \"r11\": 0.70, \"r12\": 0.71, \"r13\": 0.03, \"r21\": -0.71, \"r22\": 0.70, \"r23\": -0.02, \"r31\": 0.01, \"r32\": 0.04, \"r33\": 0.99}",
"D": "{\"tx\": -25213.35, \"ty\": 42399.0, \"tz\": -162.4, \"r11\": 0.73, \"r12\": 0.68, \"r13\": -0.04, \"r21\": -0.68, \"r22\": 0.73, \"r23\": 0.01, \"r31\": 0.01, \"r32\": -0.04, \"r33\": 0.99}",
"E": "{\"tx\": -25201.35, \"ty\": 42382.0, \"tz\": -158.4, \"r11\": 0.75, \"r12\": 0.66, \"r13\": -0.01, \"r21\": -0.66, \"r22\": 0.75, \"r23\": 0.03, \"r31\": 0.03, \"r32\": -0.02, \"r33\": 1.0}"
}
|
E
|
{"tx": -25201.35, "ty": 42382.02, "tz": -158.44, "r11": 0.75, "r12": 0.66, "r13": -0.01, "r21": -0.66, "r22": 0.75, "r23": 0.03, "r31": 0.03, "r32": -0.02, "r33": 1.0}
| 2
|
outdoor
|
|
1024360143612057520_3580_000_3600_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the orientation of the camera mounted on the moving car relative to the car's forward direction?
|
Object description: A woman in a black coat with white sneakers.
| 0
| 19.8
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 3
|
outdoor
|
1024360143612057520_3580_000_3600_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the girl with the silver backpack between two frames?
|
Object description: A girl with silver backpack.
| 0
| 1.9
|
{
"A": "2.80m",
"B": "2.30m",
"C": "1.70m",
"D": "2.00m",
"E": "3.40m"
}
|
A
|
2.86m
| 4
|
outdoor
|
1024360143612057520_3580_000_3600_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the woman in a black coat with white sneakers between two frames?
|
Object description: A woman in a black coat with white sneakers.
| 2.8
| 9.3
|
{
"A": "6.32m",
"B": "12.24m",
"C": "5.71m",
"D": "8.70m",
"E": "9.86m"
}
|
D
|
8.67m
| 5
|
outdoor
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of the vehicles (Silver Prius and white SUV parked)?
|
Object description: Silver Prius and white SUV parked.
| 5.9
| 13.3
|
{
"A": "5.10m",
"B": "4.20m",
"C": "4.60m",
"D": "4.00m",
"E": "5.50m"
}
|
C
|
4.61m, 2.09m, 1.79m
| 0
|
outdoor
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the silver SUV with tinted windows over the specified time interval? (at 3s)
|
Object description: A silver SUV with tinted windows.
| 3
| 3
|
{
"A": "3.74m/s",
"B": "0.75m/s",
"C": "0.00m/s",
"D": "14.97m/s",
"E": "7.48m/s"
}
|
C
|
0.00m/s
| 1
|
outdoor
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the Silver Lexus sedan over the specified time interval? (at 15s)
|
Object description: Silver Lexus sedan.
| 15
| 15
|
{
"A": "0 m/s",
"B": "0.10 m/s",
"C": "0.20 m/s",
"D": "0.30 m/s",
"E": "0.40 m/s"
}
|
A
|
0.00m/s
| 2
|
outdoor
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What are the camera coordinates for the 3D bounding box of the red vintage car and white Volkswagen at the frame where it first co-occurs with the silver Lexus sedan?
|
Target object description: Red vintage car and white Volkswagen.; Condition object description: Silver Lexus sedan.
| 4
| 4
|
{
"A": "{\"C_lwh\": [5.30, 2.10, 1.60], \"C_central_point\": [10.80, 5.00, 1.20], \"C_heading\": 13.00}",
"B": "{\"C_lwh\": [5.30, 2.10, 1.60], \"C_central_point\": [11.80, 5.00, 1.20], \"C_heading\": 13.00}",
"C": "{\"C_lwh\": [5.30, 2.10, 1.60], \"C_central_point\": [8.80, 5.00, 1.20], \"C_heading\": 13.00}",
"D": "{\"C_lwh\": [5.30, 2.10, 1.60], \"C_central_point\": [13.80, 5.00, 1.20], \"C_heading\": 13.00}",
"E": "{\"C_lwh\": [5.30, 2.10, 1.60], \"C_central_point\": [11.30, 5.00, 1.20], \"C_heading\": 13.00}"
}
|
E
|
{"C_lwh": [5.3, 2.08, 1.6], "C_central_point": [11.31, -4.97, -1.15], "C_heading": -13.02}
| 3
|
outdoor
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What are the camera coordinates of the 3D bounding box for the silver SUV with tinted windows at the frame where it last co-occurs with the red vintage car and white Volkswagen?
|
Target object description: A silver SUV with tinted windows.; Condition object description: Red vintage car and white Volkswagen.
| 5
| 5
|
{
"A": "C_lwh: [5.80, 2.40, 2.20], C_central_point: [8.70, 3.00, 0.90], C_heading: 170.00",
"B": "C_lwh: [6.54, 2.69, 2.48], C_central_point: [9.77, 3.38, 1.02], C_heading: 191.25",
"C": "C_lwh: [6.18, 2.55, 2.34], C_central_point: [9.24, 3.19, 0.96], C_heading: 181.25",
"D": "C_lwh: [5.62, 2.913, 2.14], C_central_point: [8.42, 2.3, 0.88], C_heading: 165.00",
"E": "C_lwh: [5.44, 2.25, 2.06], C_central_point: [8.15, 2.81, 0.85], C_heading: 160.00"
}
|
A
|
{"C_lwh": [5.83, 2.37, 2.21], "C_central_point": [8.67, 3.01, -0.94], "C_heading": 171.81}
| 4
|
outdoor
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -5924.61, "ty": 11219.46, "tz": 172.0, "r11": 0.92, "r12": 0.39, "r13": 0.02, "r21": -0.38, "r22": 0.92, "r23": -0.04, "r31": -0.03, "r32": 0.03, "r33": 1.0}, estimate and select the most likely camera pose in 3D space at the specific frame (first second). (at 16s)
| 16
| 16
|
{
"A": "{\"tx\": -5890.3, \"ty\": 11135.8, \"tz\": 172.1, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.0, \"r21\": -1.0, \"r22\": 0.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"B": "{\"tx\": -5930.3, \"ty\": 11150.8, \"tz\": 172.1, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.0, \"r21\": -1.0, \"r22\": 0.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"C": "{\"tx\": -5900.3, \"ty\": 11140.8, \"tz\": 172.1, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.0, \"r21\": -1.0, \"r22\": 0.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"D": "{\"tx\": -5910.3, \"ty\": 11145.8, \"tz\": 172.1, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.0, \"r21\": -1.0, \"r22\": 0.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"E": "{\"tx\": -5888.3, \"ty\": 11133.8, \"tz\": 172.1, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.0, \"r21\": -1.0, \"r22\": 0.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}"
}
|
A
|
{"tx": -5890.27, "ty": 11135.79, "tz": 172.14, "r11": 0.02, "r12": 1.0, "r13": -0.0, "r21": -1.0, "r22": 0.02, "r23": 0.01, "r31": 0.01, "r32": 0.0, "r33": 1.0}
| 5
|
outdoor
|
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -5924.61, "ty": 11219.46, "tz": 172.0, "r11": 0.92, "r12": 0.39, "r13": 0.02, "r21": -0.38, "r22": 0.92, "r23": -0.04, "r31": -0.03, "r32": 0.03, "r33": 1.0}, estimate and select the most likely camera pose at the specific frame using only the RGB video. (at 10s)
| 10
| 10
|
{
"A": "{\"tx\": -5890.00, \"ty\": 11170.00, \"tz\": 170.00, \"r11\": 0.10, \"r12\": 1.00, \"r13\": -0.00, \"r21\": -1.00, \"r22\": 0.10, \"r23\": -0.00, \"r31\": 0.00, \"r32\": 0.00, \"r33\": 1.00}",
"B": "{\"tx\": -5930.00, \"ty\": 11200.00, \"tz\": 170.00, \"r11\": 0.10, \"r12\": 1.00, \"r13\": -0.00, \"r21\": -1.00, \"r22\": 0.10, \"r23\": -0.00, \"r31\": 0.00, \"r32\": 0.00, \"r33\": 1.00}",
"C": "{\"tx\": -5880.00, \"ty\": 11160.00, \"tz\": 170.00, \"r11\": 0.20, \"r12\": 1.00, \"r13\": -0.00, \"r21\": -1.00, \"r22\": 0.20, \"r23\": 0.00, \"r31\": 0.00, \"r32\": 0.00, \"r33\": 1.00}",
"D": "{\"tx\": -5900.00, \"ty\": 11180.00, \"tz\": 170.00, \"r11\": 0.10, \"r12\": 1.00, \"r13\": -0.00, \"r21\": -1.00, \"r22\": 0.10, \"r23\": -0.00, \"r31\": 0.00, \"r32\": 0.00, \"r33\": 1.00}",
"E": "{\"tx\": -5910.00, \"ty\": 11190.00, \"tz\": 170.00, \"r11\": 0.10, \"r12\": 1.00, \"r13\": -0.00, \"r21\": -1.00, \"r22\": 0.10, \"r23\": 0.00, \"r31\": 0.00, \"r32\": 0.00, \"r33\": 1.00}"
}
|
A
|
{"tx": -5892.75, "ty": 11172.73, "tz": 171.79, "r11": 0.12, "r12": 0.99, "r13": -0.03, "r21": -0.99, "r22": 0.12, "r23": -0.0, "r31": 0.0, "r32": 0.03, "r33": 1.0}
| 6
|
outdoor
|
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the red car relative to the white car on the left side of the road?
| 1
| 1
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
C
|
Front
| 7
|
outdoor
|
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the orientation of the camera mounted on the moving car relative to the car's forward direction?
|
Object description: A silver Honda pickup truck.
| 0
| 19.7
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 8
|
outdoor
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the blue trash bin relative to the gray car on the left side of the image?
| 4
| 4
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
D
|
Back
| 9
|
outdoor
|
|
10247954040621004675_2180_000_2200_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length of the camera or object between two frames?
|
Object description: Silver Prius and white SUV parked.
| 13.2
| 13.2
|
{
"A": "0m",
"B": "0.20m",
"C": "0.10m",
"D": "0.30m",
"E": "0.30m"
}
|
B
|
0.17m
| 10
|
outdoor
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most likely minimum relative distance between the blue car following the white van with 'Auto-Chlor System' branding in the given frame?
|
Objects: Blue car following white van. and White van with 'Auto-Chlor System' branding.
| 6.4
| 6.4
|
{
"A": "7.88m",
"B": "5.11m",
"C": "5.66m",
"D": "6.21m",
"E": "6.98m"
}
|
C
|
5.66m
| 0
|
outdoor
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of the blue tour bus with '#SightseeingEverywhere' slogan?
|
Object description: Blue tour bus with '#SightseeingEverywhere' slogan.
| 0.1
| 3.9
|
{
"A": "11.84m",
"B": "15.10m",
"C": "15.27m",
"D": "13.44m",
"E": "14.30m"
}
|
E
|
14.28m, 4.00m, 4.01m
| 1
|
outdoor
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the catering truck with green and orange logo over a specified time interval? (at 3s)
|
Object description: Catering truck with green and orange logo.
| 3
| 3
|
{
"A": "0m/s²",
"B": "0.10m/s²",
"C": "0.10m/s²",
"D": "0.10m/s²",
"E": "0.20m/s²"
}
|
C
|
0.10m/s²
| 2
|
outdoor
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the white Ford truck with a metal rack over the specified time interval? (at 15s)
|
Object description: White Ford truck with metal rack.
| 15
| 15
|
{
"A": "0.00m/s²",
"B": "0.10m/s²",
"C": "0.20m/s²",
"D": "0.50m/s²",
"E": "1.00m/s²"
}
|
A
|
0.00m/s²
| 3
|
outdoor
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video?
| 0
| 19.7
|
{
"A": "7°",
"B": "10°",
"C": "0°",
"D": "5°",
"E": "12°"
}
|
C
|
0.59°
| 4
|
outdoor
|
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 19.7
|
{
"A": "move forward 50m, then turn left 45°",
"B": "move forward 70m",
"C": "move forward 80m, then turn right 60°",
"D": "move forward 70m, then turn left 90°",
"E": "move forward 60m, then turn right 30°"
}
|
B
|
move forward 72.06m
| 5
|
outdoor
|
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box of the blue tour bus with '#SightseeingEverywhere' slogan in camera coordinates at the frame where it last co-occurs with the white pickup truck with roof rack?
|
Target object description: Blue tour bus with '#SightseeingEverywhere' slogan.; Condition object description: White pickup truck with roof rack.
| 3
| 3
|
{
"A": "{\"C_lwh\": [14.508, 4.50, 4.50], \"C_central_point\": [9.00, 6.0, 0.23], \"C_heading\": 202.50}",
"B": "{\"C_lwh\": [14.30, 4.0000, 4.0], \"C_central_point\": [8.00, 4.0, 0.20], \"C_heading\": 180.00}",
"C": "{\"C_lwh\": [17.88, 5.00, 5.00], \"C_central_point\": [10.00, 5.00, 0.23], \"C_heading\": 180.00}",
"D": "{\"C_lwh\": [12.50, 3.50, 3.50], \"C_central_point\": [7.00, 3.50, 0.18], \"C_heading\": 157.50}",
"E": "{\"C_lwh\": [13.40, 3.75, 3.75], \"C_central_point\": [7.50, 3.75, 0.18], \"C_heading\": 168.75}"
}
|
B
|
{"C_lwh": [14.28, 4.0, 4.01], "C_central_point": [7.99, 4.0, -0.17], "C_heading": -179.72}
| 6
|
outdoor
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What are the camera coordinates and dimensions of the 3D bounding box for the white van with 'Auto-Chlor System' branding at the frame where it last co-occurs with a blue car in traffic?
|
Target object description: White van with 'Auto-Chlor System' branding.; Condition object description: Blue car in traffic.
| 18
| 18
|
{
"A": "{\"C_lwh\": [6.97, 2.70, 3.16], \"C_central_point\": [3.05, 3.83, 0.68], \"C_heading\": 0.80}",
"B": "{\"C_lwh\": [7.76, 3.00, 3.52], \"C_central_point\": [3.39, 4.67, 0.82], \"C_heading\": 0.89}",
"C": "{\"C_lwh\": [6.20, 2.40, 2.80], \"C_central_point\": [2.70, 3.40, 0.60], \"C_heading\": 0.70}",
"D": "{\"C_lwh\": [6.59, 2.55, 2.99], \"C_central_point\": [2.88, 3.61, 0.64], \"C_heading\": 0.75}",
"E": "{\"C_lwh\": [5.81, 2.25, 2.62], \"C_central_point\": [2.54, 3.19, 0.56], \"C_heading\": 0.66}"
}
|
C
|
{"C_lwh": [6.22, 2.4, 2.85], "C_central_point": [2.73, -3.4, -0.6], "C_heading": -0.73}
| 7
|
outdoor
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What are the 3D bounding box parameters of the white sheriff van in camera coordinates at the frame where it last co-occurs with the catering truck with green and orange logo?
|
Target object description: A white sheriff van.; Condition object description: Catering truck with green and orange logo.
| 3
| 3
|
{
"A": "{\"C_lwh\": [5.88, 2.68, 2.38], \"C_central_point\": [6.70, 5.78, 0.83], \"C_heading\": 0.93}",
"B": "{\"C_lwh\": [5.46, 2.49, 2.21], \"C_central_point\": [6.23, 5.37, 0.77], \"C_heading\": 0.86}",
"C": "{\"C_lwh\": [6.06, 2.76, 2.45], \"C_central_point\": [6.90, 5.94, 0.86], \"C_heading\": 0.95}",
"D": "{\"C_lwh\": [5.53, 2.52, 2.23], \"C_central_point\": [6.29, 5.42, 0.78], \"C_heading\": 0.87}",
"E": "{\"C_lwh\": [5.70, 2.60, 2.30], \"C_central_point\": [6.50, 5.60, 0.80], \"C_heading\": 0.90}"
}
|
E
|
{"C_lwh": [5.74, 2.59, 2.33], "C_central_point": [6.47, -5.57, -0.84], "C_heading": 0.87}
| 8
|
outdoor
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -1688.14, "ty": 14424.39, "tz": -25.77, "r11": 0.16, "r12": 0.99, "r13": -0.0, "r21": -0.99, "r22": 0.16, "r23": -0.06, "r31": -0.06, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video (Specific Frame) to match the ground truth. (at 5s)
| 5
| 5
|
{
"A": "{\"tx\": -1683.9, \"ty\": 14419.4, \"tz\": -22.5, \"r11\": 0.14, \"r12\": 0.96, \"r13\": -0.04, \"r21\": -0.96, \"r22\": 0.14, \"r23\": -0.1, \"r31\": -0.1, \"r32\": 0.03, \"r33\": 0.97}",
"B": "{\"tx\": -1685.9, \"ty\": 14409.4, \"tz\": -26.5, \"r11\": 0.16, \"r12\": 0.99, \"r13\": -0.01, \"r21\": -0.99, \"r22\": 0.16, \"r23\": -0.07, \"r31\": -0.07, \"r32\": 0.02, \"r33\": 1.0}",
"C": "{\"tx\": -1687.9, \"ty\": 14411.4, \"tz\": -28.5, \"r11\": 0.15, \"r12\": 0.98, \"r13\": -0.02, \"r21\": -0.98, \"r22\": 0.15, \"r23\": -0.08, \"r31\": -0.08, \"r32\": 0.01, \"r33\": 0.99}",
"D": "{\"tx\": -1690.9, \"ty\": 14422.4, \"tz\": -29.5, \"r11\": 0.13, \"r12\": 0.95, \"r13\": -0.05, \"r21\": -0.95, \"r22\": 0.13, \"r23\": -0.11, \"r31\": -0.11, \"r32\": 0.04, \"r33\": 0.96}",
"E": "{\"tx\": -1689.9, \"ty\": 14414.4, \"tz\": -24.5, \"r11\": 0.17, \"r12\": 0.97, \"r13\": -0.03, \"r21\": -0.97, \"r22\": 0.17, \"r23\": -0.09, \"r31\": -0.09, \"r32\": 0.02, \"r33\": 0.98}"
}
|
B
|
{"tx": -1685.89, "ty": 14409.42, "tz": -26.47, "r11": 0.16, "r12": 0.99, "r13": -0.01, "r21": -0.99, "r22": 0.16, "r23": -0.07, "r31": -0.07, "r32": 0.02, "r33": 1.0}
| 9
|
outdoor
|
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the white car on the right side of the image relative to the black car on the right side of the image?
| 7
| 7
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
D
|
Back
| 10
|
outdoor
|
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the truck relative to the bus?
| 1.5
| 1.5
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
B
|
Right
| 11
|
outdoor
|
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the bus relative to the truck?
| 1.5
| 1.5
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
A
|
Left
| 12
|
outdoor
|
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera or object between two frames?
| 0
| 19.7
|
{
"A": "72.00m",
"B": "72.73m",
"C": "71.28m",
"D": "69.39m",
"E": "69.11m"
}
|
A
|
72.06m
| 13
|
outdoor
|
|
10289507859301986274_4200_000_4220_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the catering truck with green and orange logo between two frames?
|
Object description: Catering truck with green and orange logo.
| 0
| 12.8
|
{
"A": "36.72m",
"B": "15.50m",
"C": "27.50m",
"D": "21.50m",
"E": "30.50m"
}
|
C
|
27.46m
| 14
|
outdoor
|
10335539493577748957_1372_870_1392_870_camera_5.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval?
| 8.3
| 12.8
|
{
"A": "25.14m/s",
"B": "17.61m/s",
"C": "27.83m/s",
"D": "22.50m/s",
"E": "15.40m/s"
}
|
D
|
22.47m/s
| 0
|
outdoor
|
|
10335539493577748957_1372_870_1392_870_camera_5.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the object over the specified time interval? (at 9s)
|
Object description: Too dark to identify.
| 9
| 9
|
{
"A": "1.60m/s²",
"B": "0.90m/s²",
"C": "0.40m/s²",
"D": "1.10m/s²",
"E": "0.70m/s²"
}
|
B
|
0.90m/s²
| 1
|
outdoor
|
10335539493577748957_1372_870_1392_870_camera_5.mp4
|
Waymo
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video?
| 0
| 16.6
|
{
"A": "12°",
"B": "5°",
"C": "10°",
"D": "7°",
"E": "0°"
}
|
E
|
-0.61°
| 2
|
outdoor
|
|
10335539493577748957_1372_870_1392_870_camera_5.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 16.6
|
{
"A": "move forward 200m, then turn left 75°",
"B": "move forward 300m, then turn right 45°",
"C": "move forward 280m",
"D": "move forward 250m, then turn left 60°",
"E": "move forward 280m, then turn right 90°"
}
|
C
|
move forward 283.96m
| 3
|
outdoor
|
|
10335539493577748957_1372_870_1392_870_camera_5.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 8395.91, "ty": 5859.32, "tz": -877.25, "r11": 1.0, "r12": -0.0, "r13": 0.01, "r21": 0.0, "r22": 1.0, "r23": 0.01, "r31": -0.01, "r32": -0.01, "r33": 1.0} and the first second's camera pose, estimate and select the most likely camera pose in 3D space using only the RGB video. Select the most appropriate estimation that matches the ground truth. (at 14s)
| 14
| 14
|
{
"A": "{\"tx\": 8398.45, \"ty\": 6057.71, \"tz\": -887.33, \"r11\": 1.0, \"r12\": 0.01, \"r13\": 0.01, \"r21\": -0.01, \"r22\": 1.0, \"r23\": -0.0, \"r31\": -0.01, \"r32\": 0.0, \"r33\": 1.0}",
"B": "{\"tx\": 8392.45, \"ty\": 6087.71, \"tz\": -857.33, \"r11\": 1.0, \"r12\": 0.04, \"r13\": 0.04, \"r21\": -0.04, \"r22\": 1.0, \"r23\": -0.0, \"r31\": -0.04, \"r32\": 0.0, \"r33\": 1.0}",
"C": "{\"tx\": 8396.45, \"ty\": 6077.71, \"tz\": -877.33, \"r11\": 1.0, \"r12\": 0.03, \"r13\": 0.03, \"r21\": -0.03, \"r22\": 1.0, \"r23\": -0.0, \"r31\": -0.03, \"r32\": 0.0, \"r33\": 1.0}",
"D": "{\"tx\": 8394.45, \"ty\": 6067.71, \"tz\": -867.33, \"r11\": 1.0, \"r12\": 0.02, \"r13\": 0.02, \"r21\": -0.02, \"r22\": 1.0, \"r23\": -0.0, \"r31\": -0.02, \"r32\": 0.0, \"r33\": 1.0}",
"E": "{\"tx\": 8391.45, \"ty\": 6077.71, \"tz\": -897.33, \"r11\": 1.0, \"r12\": 0.05, \"r13\": 0.05, \"r21\": -0.05, \"r22\": 1.0, \"r23\": -0.0, \"r31\": -0.05, \"r32\": 0.0, \"r33\": 1.0}"
}
|
C
|
{"tx": 8396.45, "ty": 6077.71, "tz": -877.33, "r11": 1.0, "r12": 0.03, "r13": 0.03, "r21": -0.03, "r22": 1.0, "r23": -0.0, "r31": -0.03, "r32": 0.0, "r33": 1.0}
| 4
|
outdoor
|
|
10335539493577748957_1372_870_1392_870_camera_5.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 8395.91, "ty": 5859.32, "tz": -877.25, "r11": 1.0, "r12": -0.0, "r13": 0.01, "r21": 0.0, "r22": 1.0, "r23": 0.01, "r31": -0.01, "r32": -0.01, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video for the specified frame. (at 3s)
| 3
| 3
|
{
"A": "{\"tx\": 8395.9, \"ty\": 5859.3, \"tz\": -887.3, \"r11\": 1.0, \"r12\": -0.0, \"r13\": 0.01, \"r21\": 0.0, \"r22\": 1.0, \"r23\": 0.01, \"r31\": -0.01, \"r32\": -0.01, \"r33\": 1.0}",
"B": "{\"tx\": 8395.9, \"ty\": 5859.3, \"tz\": -877.3, \"r11\": 1.0, \"r12\": -0.0, \"r13\": 0.01, \"r21\": 0.0, \"r22\": 1.0, \"r23\": 0.01, \"r31\": -0.01, \"r32\": -0.01, \"r33\": 1.0}",
"C": "{\"tx\": 8395.9, \"ty\": 5869.3, \"tz\": -877.3, \"r11\": 1.0, \"r12\": -0.0, \"r13\": 0.01, \"r21\": 0.0, \"r22\": 1.0, \"r23\": 0.01, \"r31\": -0.01, \"r32\": -0.01, \"r33\": 1.0}",
"D": "{\"tx\": 8395.9, \"ty\": 5849.3, \"tz\": -877.3, \"r11\": 1.0, \"r12\": -0.0, \"r13\": 0.01, \"r21\": 0.0, \"r22\": 1.0, \"r23\": 0.01, \"r31\": -0.01, \"r32\": -0.01, \"r33\": 1.0}",
"E": "{\"tx\": 8395.9, \"ty\": 5859.3, \"tz\": -867.3, \"r11\": 1.0, \"r12\": -0.0, \"r13\": 0.01, \"r21\": 0.0, \"r22\": 1.0, \"r23\": 0.01, \"r31\": -0.01, \"r32\": -0.01, \"r33\": 1.0}"
}
|
B
|
{"tx": 8395.91, "ty": 5859.32, "tz": -877.25, "r11": 1.0, "r12": -0.0, "r13": 0.01, "r21": 0.0, "r22": 1.0, "r23": 0.01, "r31": -0.01, "r32": -0.01, "r33": 1.0}
| 5
|
outdoor
|
|
10335539493577748957_1372_870_1392_870_camera_5.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the orientation of the camera mounted on the moving car relative to the car's forward direction?
|
Object description: Too dark to identify.
| 0
| 16.6
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
E
|
Right
| 6
|
outdoor
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the gray Chevrolet SUV over the specified time interval? (at 7s)
|
Object description: A gray Chevrolet SUV.
| 7
| 7
|
{
"A": "0 m/s",
"B": "0.10 m/s",
"C": "0.20 m/s",
"D": "0.30 m/s",
"E": "0.40 m/s"
}
|
A
|
0.00m/s
| 0
|
outdoor
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the Silver Mercedes SUV over the specified time interval?
|
Object description: Silver Mercedes SUV.
| 9.3
| 14.3
|
{
"A": "0.50 m/s",
"B": "3.00 m/s",
"C": "0.00 m/s",
"D": "2.50 m/s",
"E": "1.00 m/s"
}
|
C
|
0.00m/s
| 1
|
outdoor
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the Black Lexus SUV with chrome accents over the specified time interval? (at 18s)
|
Object description: Black Lexus SUV with chrome accents.
| 18
| 18
|
{
"A": "0.0m/s²",
"B": "0.2m/s²",
"C": "0.5m/s²",
"D": "1.0m/s²",
"E": "1.5m/s²"
}
|
A
|
0.00m/s²
| 2
|
outdoor
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video?
| 0
| 19.8
|
{
"A": "10°",
"B": "0°",
"C": "7°",
"D": "5°",
"E": "12°"
}
|
B
|
0.47°
| 3
|
outdoor
|
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
Which of the following options best describes the camera's movement trajectory?
| 0
| 19.8
|
{
"A": "move forward 70m",
"B": "move forward 50m, then turn left 30°",
"C": "move forward 60m, then turn right 45°",
"D": "move forward 80m, then turn left 90°",
"E": "move forward 100m"
}
|
A
|
move forward 74.90m
| 4
|
outdoor
|
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What are the camera coordinates for the 3D bounding box of the black convertible car at the frame where it first co-occurs with the dark Mercedes-Benz sedan?
|
Target object description: A black convertible car.; Condition object description: A dark Mercedes-Benz sedan.
| 16
| 16
|
{
"A": "{\"C_lwh\": [4.65, 2.07, 1.38], \"C_central_point\": [23.65, 13.15, 1.60], \"C_heading\": 135.20}",
"B": "{\"C_lwh\": [4.65, 2.07, 1.38], \"C_central_point\": [24.15, 12.65, 1.60], \"C_heading\": 135.20}",
"C": "{\"C_lwh\": [4.65, 2.07, 1.38], \"C_central_point\": [23.90, 12.90, 1.60], \"C_heading\": 135.20}",
"D": "{\"C_lwh\": [4.65, 2.07, 1.38], \"C_central_point\": [22.90, 12.15, 1.60], \"C_heading\": 135.20}",
"E": "{\"C_lwh\": [4.65, 2.07, 1.38], \"C_central_point\": [25.15, 14.15, 1.60], \"C_heading\": 135.20}"
}
|
C
|
{"C_lwh": [4.65, 2.07, 1.38], "C_central_point": [23.94, -12.9, -1.64], "C_heading": 135.23}
| 5
|
outdoor
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -2354.03, "ty": 16446.69, "tz": -27.48, "r11": -0.59, "r12": 0.8, "r13": -0.0, "r21": -0.8, "r22": -0.59, "r23": 0.02, "r31": 0.02, "r32": 0.02, "r33": 1.0}, estimate and select the most likely camera pose in 3D space for the specific frame. (at 19s)
| 19
| 19
|
{
"A": "{\"tx\": -2402.1, \"ty\": 16415.8, \"tz\": -47.4, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.01, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.01, \"r31\": 0.0, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": -2412.1, \"ty\": 16425.8, \"tz\": -37.4, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.01, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.01, \"r31\": 0.0, \"r32\": 0.01, \"r33\": 1.0}",
"C": "{\"tx\": -2442.1, \"ty\": 16455.8, \"tz\": -7.4, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.01, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.01, \"r31\": 0.0, \"r32\": 0.01, \"r33\": 1.0}",
"D": "{\"tx\": -2422.1, \"ty\": 16435.8, \"tz\": -27.4, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.01, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.01, \"r31\": 0.0, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": -2432.1, \"ty\": 16445.8, \"tz\": -17.4, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.01, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.01, \"r31\": 0.0, \"r32\": 0.01, \"r33\": 1.0}"
}
|
D
|
{"tx": -2422.05, "ty": 16435.83, "tz": -27.39, "r11": -0.6, "r12": 0.8, "r13": -0.01, "r21": -0.8, "r22": -0.6, "r23": 0.01, "r31": 0.0, "r32": 0.01, "r33": 1.0}
| 6
|
outdoor
|
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -2354.03, "ty": 16446.69, "tz": -27.48, "r11": -0.59, "r12": 0.8, "r13": -0.0, "r21": -0.8, "r22": -0.59, "r23": 0.02, "r31": 0.02, "r32": 0.02, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video for the first second's camera pose. (at 2s)
| 2
| 2
|
{
"A": "{\"tx\": -2354.0, \"ty\": 16446.7, \"tz\": -17.5, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.0, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"B": "{\"tx\": -2354.0, \"ty\": 16446.7, \"tz\": -37.5, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.0, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"C": "{\"tx\": -2364.0, \"ty\": 16446.7, \"tz\": -27.5, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.0, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"D": "{\"tx\": -2344.0, \"ty\": 16446.7, \"tz\": -27.5, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.0, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"E": "{\"tx\": -2354.0, \"ty\": 16446.7, \"tz\": -27.5, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.0, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}"
}
|
E
|
{"tx": -2354.03, "ty": 16446.69, "tz": -27.48, "r11": -0.59, "r12": 0.8, "r13": -0.0, "r21": -0.8, "r22": -0.59, "r23": 0.02, "r31": 0.02, "r32": 0.02, "r33": 1.0}
| 7
|
outdoor
|
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the orientation of the camera mounted on the moving car relative to the car's forward direction?
|
Object description: A gray Chevrolet SUV.
| 0
| 19.9
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
B
|
Front-Left
| 8
|
outdoor
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the white car relative to the black car?
| 14.5
| 14.5
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
C
|
Front
| 9
|
outdoor
|
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the black car relative to the white car?
| 14.5
| 14.5
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
D
|
Back
| 10
|
outdoor
|
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames?
| 0
| 19.8
|
{
"A": "70.34m",
"B": "75.00m",
"C": "56.37m",
"D": "81.83m",
"E": "93.63m"
}
|
B
|
74.91m
| 11
|
outdoor
|
|
10359308928573410754_720_000_740_000_camera_2.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames for a black Lexus sedan?
|
Object description: A black Lexus sedan.
| 16.7
| 16.7
|
{
"A": "0.10m",
"B": "0.20m",
"C": "0.10m",
"D": "0.30m",
"E": "0.40m"
}
|
A
|
0.12m
| 12
|
outdoor
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the gray SUV in rainy weather over the specified time interval? (at 10s)
|
Object description: Gray SUV in rainy weather.
| 10
| 10
|
{
"A": "6.40m/s",
"B": "8.60m/s",
"C": "7.50m/s",
"D": "10.79m/s",
"E": "4.21m/s"
}
|
C
|
7.50m/s
| 0
|
outdoor
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the gray SUV in the rain over the specified time interval? (at 8s)
|
Object description: A gray SUV in the rain.
| 8
| 8
|
{
"A": "1.00 m/s²",
"B": "1.50 m/s²",
"C": "0.00 m/s²",
"D": "2.00 m/s²",
"E": "0.50 m/s²"
}
|
C
|
0.00m/s²
| 1
|
outdoor
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video?
| 0
| 18.2
|
{
"A": "0°",
"B": "19°",
"C": "5°",
"D": "15°",
"E": "10°"
}
|
A
|
-0.96°
| 2
|
outdoor
|
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 18.2
|
{
"A": "move forward 7.40m",
"B": "move forward 5m",
"C": "move forward 10m",
"D": "move forward 7.40m, then turn left 75°",
"E": "move forward 7.40m, then turn right 75°"
}
|
A
|
move forward 7.39m
| 3
|
outdoor
|
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What is the 3D bounding box in camera coordinates for the white van with 'The Wall Doctor' logo at the frame where it first co-occurs with a maroon SUV with tinted windows?
|
Target object description: White van with "The Wall Doctor" logo.; Condition object description: A maroon SUV with tinted windows.
| 0
| 0
|
{
"A": "{\"C_lwh\": [5.70, 2.40, 2.50], \"C_central_point\": [14.40, 8.60, 0.90], \"C_heading\": 97.00}",
"B": "{\"C_lwh\": [5.70, 2.40, 2.50], \"C_central_point\": [13.40, 8.60, 0.90], \"C_heading\": 97.00}",
"C": "{\"C_lwh\": [5.70, 2.40, 2.50], \"C_central_point\": [13.40, 5.00, 0.90], \"C_heading\": 97.00}",
"D": "{\"C_lwh\": [5.70, 2.40, 2.50], \"C_central_point\": [18.40, 8.60, 0.90], \"C_heading\": 97.00}",
"E": "{\"C_lwh\": [5.70, 2.40, 2.50], \"C_central_point\": [13.40, 13.60, 0.90], \"C_heading\": 97.00}"
}
|
B
|
{"C_lwh": [5.66, 2.39, 2.47], "C_central_point": [13.41, -8.58, -0.86], "C_heading": 96.87}
| 4
|
outdoor
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What is the most appropriate parameter set for localizing the 3D bounding box of a gray SUV in camera coordinates at the frame where it first co-occurs with a black pickup truck in heavy rain?
|
Target object description: A gray SUV in the rain.; Condition object description: Black pickup truck in heavy rain.
| 3
| 3
|
{
"A": "{\"C_lwh\": [4.60, 1.90, 1.70], \"C_central_point\": [15.80, 0.40, 2.02], \"C_heading\": 98.00}",
"B": "{\"C_lwh\": [4.60, 1.90, 1.70], \"C_central_point\": [16.43, 0.40, 1.40], \"C_heading\": 98.00}",
"C": "{\"C_lwh\": [4.60, 1.90, 1.70], \"C_central_point\": [15.80, 1.02, 1.40], \"C_heading\": 98.00}",
"D": "{\"C_lwh\": [4.60, 1.90, 1.70], \"C_central_point\": [15.80, 0.40, 1.40], \"C_heading\": 98.00}",
"E": "{\"C_lwh\": [4.60, 1.90, 1.70], \"C_central_point\": [15.18, 0.40, 1.40], \"C_heading\": 98.00}"
}
|
D
|
{"C_lwh": [4.6, 1.91, 1.73], "C_central_point": [15.81, 0.43, -1.42], "C_heading": 97.5}
| 5
|
outdoor
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -341.35, "ty": -31.91, "tz": 10.44, "r11": 0.07, "r12": 1.0, "r13": 0.0, "r21": -1.0, "r22": 0.07, "r23": -0.01, "r31": -0.01, "r32": -0.0, "r33": 1.0}, estimate and select the most likely camera pose for the first second's frame, using only the RGB video. (at 18s)
| 18
| 18
|
{
"A": "{\"tx\": -337.4, \"ty\": -32.7, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"B": "{\"tx\": -355.4, \"ty\": -35.7, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"C": "{\"tx\": -347.4, \"ty\": -32.7, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"D": "{\"tx\": -348.4, \"ty\": -42.7, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"E": "{\"tx\": -345.4, \"ty\": -32.0, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}"
}
|
C
|
{"tx": -347.4, "ty": -32.68, "tz": 10.45, "r11": 0.14, "r12": 0.99, "r13": 0.02, "r21": -0.99, "r22": 0.14, "r23": -0.01, "r31": -0.01, "r32": -0.02, "r33": 1.0}
| 6
|
outdoor
|
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -341.35, "ty": -31.91, "tz": 10.44, "r11": 0.07, "r12": 1.0, "r13": 0.0, "r21": -1.0, "r22": 0.07, "r23": -0.01, "r31": -0.01, "r32": -0.0, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video for the specific frame and match the ground truth. (at 10s)
| 10
| 10
|
{
"A": "{\"tx\": -337.4, \"ty\": -22.7, \"tz\": 20.5, \"r11\": 0.2, \"r12\": 0.9, \"r13\": 0.1, \"r21\": -0.9, \"r22\": 0.2, \"r23\": 0.1, \"r31\": 0.1, \"r32\": 0.1, \"r33\": 1.0}",
"B": "{\"tx\": -351.4, \"ty\": -30.7, \"tz\": 5.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": -0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.1, \"r31\": -0.1, \"r32\": -0.0, \"r33\": 1.0}",
"C": "{\"tx\": -347.4, \"ty\": -32.7, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"D": "{\"tx\": -345.4, \"ty\": -35.7, \"tz\": 15.5, \"r11\": 0.2, \"r12\": 0.9, \"r13\": 0.1, \"r21\": -0.9, \"r22\": 0.2, \"r23\": 0.1, \"r31\": 0.1, \"r32\": 0.1, \"r33\": 1.0}",
"E": "{\"tx\": -339.4, \"ty\": -29.7, \"tz\": 12.5, \"r11\": 0.2, \"r12\": 1.0, \"r13\": 0.1, \"r21\": -1.0, \"r22\": 0.2, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.1, \"r33\": 1.0}"
}
|
C
|
{"tx": -347.4, "ty": -32.68, "tz": 10.45, "r11": 0.14, "r12": 0.99, "r13": 0.02, "r21": -0.99, "r22": 0.14, "r23": -0.01, "r31": -0.01, "r32": -0.02, "r33": 1.0}
| 7
|
outdoor
|
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -341.35, "ty": -31.91, "tz": 10.44, "r11": 0.07, "r12": 1.0, "r13": 0.0, "r21": -1.0, "r22": 0.07, "r23": -0.01, "r31": -0.01, "r32": -0.0, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video for the first second. (at 12s)
| 12
| 12
|
{
"A": "{\"tx\": -345.4, \"ty\": -34.7, \"tz\": 12.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"B": "{\"tx\": -347.4, \"ty\": -32.7, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"C": "{\"tx\": -357.4, \"ty\": -32.7, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"D": "{\"tx\": -347.4, \"ty\": -32.7, \"tz\": 20.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}",
"E": "{\"tx\": -347.4, \"ty\": -42.7, \"tz\": 10.5, \"r11\": 0.1, \"r12\": 1.0, \"r13\": 0.0, \"r21\": -1.0, \"r22\": 0.1, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.0, \"r33\": 1.0}"
}
|
B
|
{"tx": -347.4, "ty": -32.68, "tz": 10.45, "r11": 0.14, "r12": 0.99, "r13": 0.02, "r21": -0.99, "r22": 0.14, "r23": -0.01, "r31": -0.01, "r32": -0.02, "r33": 1.0}
| 8
|
outdoor
|
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the orientation of the camera mounted on the moving car relative to the car's forward direction?
|
Object description: Green sedan with tinted windows.
| 0
| 18.3
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
D
|
Left
| 9
|
outdoor
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the black car relative to the red car?
| 15
| 15
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
C
|
Front
| 10
|
outdoor
|
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the positional relationship of the red car relative to the black car?
| 15
| 15
|
{
"A": "Left",
"B": "Right",
"C": "Front",
"D": "Back",
"E": "Up"
}
|
D
|
Back
| 11
|
outdoor
|
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the gray SUV in the rain between two frames?
|
Object description: A gray SUV in the rain.
| 0
| 18.2
|
{
"A": "0.0m",
"B": "0.1m",
"C": "0.2m",
"D": "0.3m",
"E": "0.4m"
}
|
A
|
0.00m
| 12
|
outdoor
|
10448102132863604198_472_000_492_000_camera_4.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the red SUV in fog between two frames?
|
Object description: A red SUV in fog.
| 2.7
| 18.2
|
{
"A": "0.0m",
"B": "0.1m",
"C": "0.2m",
"D": "0.3m",
"E": "0.4m"
}
|
A
|
0.04m
| 13
|
outdoor
|
10689101165701914459_2072_300_2092_300_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera or object between two frames?
| 0
| 13
|
{
"A": "82.37m",
"B": "85.00m",
"C": "83.32m",
"D": "85.72m",
"E": "84.28m"
}
|
B
|
85.04m
| 0
|
outdoor
|
|
10689101165701914459_2072_300_2092_300_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames?
| 0
| 13
|
{
"A": "89.66m",
"B": "64.82m",
"C": "105.18m",
"D": "85.00m",
"E": "80.34m"
}
|
D
|
85.04m
| 1
|
outdoor
|
|
10689101165701914459_2072_300_2092_300_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval?
| 9.6
| 12.4
|
{
"A": "8.22m/s",
"B": "4.48m/s",
"C": "3.33m/s",
"D": "5.20m/s",
"E": "7.50m/s"
}
|
D
|
5.23m/s
| 2
|
outdoor
|
|
10689101165701914459_2072_300_2092_300_camera_1.mp4
|
Waymo
|
Ego-Centric Orientation
|
Single Choice
|
What is the most appropriate change in orientation of the camera from the start to the end of the video?
| 0
| 13
|
{
"A": "17°",
"B": "5°",
"C": "12°",
"D": "10°",
"E": "0°"
}
|
E
|
0.23°
| 3
|
outdoor
|
|
10689101165701914459_2072_300_2092_300_camera_1.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
Which option best describes the camera's movement trajectory?
| 0
| 13
|
{
"A": "move forward 87.43m",
"B": "move forward 85.00m",
"C": "move forward 92.28m",
"D": "move forward 77.72m",
"E": "move forward 82.57m"
}
|
B
|
move forward 85.04m
| 4
|
outdoor
|
|
10689101165701914459_2072_300_2092_300_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 58.07, "ty": 1060.77, "tz": 357.5, "r11": 0.0, "r12": 1.0, "r13": -0.01, "r21": -1.0, "r22": 0.0, "r23": 0.0, "r31": 0.0, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose in 3D space at the specific frame using only the RGB video. (at 5s)
| 5
| 5
|
{
"A": "{\"tx\": 57.8, \"ty\": 1033.1, \"tz\": 367.5, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.01, \"r21\": -1.0, \"r22\": 0.0, \"r23\": -0.0, \"r31\": -0.0, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": 67.8, \"ty\": 1033.1, \"tz\": 357.5, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.01, \"r21\": -1.0, \"r22\": 0.0, \"r23\": -0.0, \"r31\": -0.0, \"r32\": 0.01, \"r33\": 1.0}",
"C": "{\"tx\": 57.8, \"ty\": 1043.1, \"tz\": 357.5, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.01, \"r21\": -1.0, \"r22\": 0.0, \"r23\": -0.0, \"r31\": -0.0, \"r32\": 0.01, \"r33\": 1.0}",
"D": "{\"tx\": 57.8, \"ty\": 1033.1, \"tz\": 357.5, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.01, \"r21\": -1.0, \"r22\": 0.0, \"r23\": -0.0, \"r31\": -0.0, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": 47.8, \"ty\": 1033.1, \"tz\": 357.5, \"r11\": 0.0, \"r12\": 1.0, \"r13\": -0.01, \"r21\": -1.0, \"r22\": 0.0, \"r23\": -0.0, \"r31\": -0.0, \"r32\": 0.01, \"r33\": 1.0}"
}
|
D
|
{"tx": 57.79, "ty": 1033.12, "tz": 357.51, "r11": 0.0, "r12": 1.0, "r13": -0.01, "r21": -1.0, "r22": 0.0, "r23": -0.0, "r31": -0.0, "r32": 0.01, "r33": 1.0}
| 5
|
outdoor
|
|
10689101165701914459_2072_300_2092_300_camera_1.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the orientation of the camera mounted on the moving car relative to the car's forward direction?
| 0
| 13
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 6
|
outdoor
|
|
1071392229495085036_1844_790_1864_790_camera_4.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the camera or object between two frames?
| 0
| 17.8
|
{
"A": "99.00m",
"B": "100.44m",
"C": "97.20m",
"D": "98.28m",
"E": "99.72m"
}
|
A
|
99.05m
| 0
|
outdoor
|
|
1071392229495085036_1844_790_1864_790_camera_4.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most appropriate trajectory length (total distance traveled) of the camera or object between two frames?
| 0
| 17.8
|
{
"A": "90.68m",
"B": "100.00m",
"C": "95.34m",
"D": "141.92m",
"E": "109.32m"
}
|
B
|
104.01m
| 1
|
outdoor
|
|
1071392229495085036_1844_790_1864_790_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval?
| 2.3
| 4.2
|
{
"A": "17.36m/s",
"B": "20.00m/s",
"C": "27.93m/s",
"D": "22.64m/s",
"E": "9.43m/s"
}
|
B
|
19.92m/s
| 2
|
outdoor
|
|
1071392229495085036_1844_790_1864_790_camera_4.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
Which of the following options best describes the camera's movement trajectory?
| 0
| 17.8
|
{
"A": "move forward 90m, turn right 60°, move forward 8m",
"B": "move forward 90m, turn left 60°, move forward 10m",
"C": "move forward 90m, turn right 60°, move forward 8m",
"D": "move forward 100m, turn left 55°, move forward 8.5m",
"E": "move forward 90m, turn left 60°, move forward 8m"
}
|
A
|
move forward 94.57m, turn right 59.32°, move forward 8.28m
| 3
|
outdoor
|
|
1071392229495085036_1844_790_1864_790_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 2752.24, "ty": 3675.02, "tz": 24.14, "r11": 0.18, "r12": -0.98, "r13": 0.0, "r21": 0.98, "r22": 0.18, "r23": -0.02, "r31": 0.02, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video to match the ground truth. (at 8s)
| 8
| 8
|
{
"A": "{\"tx\": 2762.24, \"ty\": 3680.02, \"tz\": 25.1, \"r11\": 0.18, \"r12\": -0.98, \"r13\": 0.0, \"r21\": 0.98, \"r22\": 0.18, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": 2797.54, \"ty\": 3669.91, \"tz\": 23.8, \"r11\": -0.0, \"r12\": -1.0, \"r13\": 0.0, \"r21\": 1.0, \"r22\": -0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.0, \"r33\": 1.0}",
"C": "{\"tx\": 2772.24, \"ty\": 3675.02, \"tz\": 34.1, \"r11\": 0.18, \"r12\": -0.98, \"r13\": 0.0, \"r21\": 0.98, \"r22\": 0.18, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"D": "{\"tx\": 2787.54, \"ty\": 3659.91, \"tz\": 29.8, \"r11\": 0.18, \"r12\": -0.98, \"r13\": 0.0, \"r21\": 0.98, \"r22\": 0.18, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": 2752.24, \"ty\": 3675.02, \"tz\": 24.1, \"r11\": 0.18, \"r12\": -0.98, \"r13\": 0.0, \"r21\": 0.98, \"r22\": 0.18, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}"
}
|
B
|
{"tx": 2797.54, "ty": 3669.91, "tz": 23.82, "r11": -0.0, "r12": -1.0, "r13": 0.0, "r21": 1.0, "r22": -0.0, "r23": -0.02, "r31": 0.02, "r32": 0.0, "r33": 1.0}
| 4
|
outdoor
|
|
1071392229495085036_1844_790_1864_790_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 2752.24, "ty": 3675.02, "tz": 24.14, "r11": 0.18, "r12": -0.98, "r13": 0.0, "r21": 0.98, "r22": 0.18, "r23": -0.02, "r31": 0.02, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose for the first second's camera pose in 3D space using only the RGB video. (at 15s)
| 15
| 15
|
{
"A": "{\"tx\": 2835.4, \"ty\": 3681.9, \"tz\": 24.0, \"r11\": -0.1, \"r12\": -1.0, \"r13\": -0.0, \"r21\": 1.0, \"r22\": -0.1, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"B": "{\"tx\": 2825.4, \"ty\": 3665.9, \"tz\": 29.0, \"r11\": -0.1, \"r12\": -1.0, \"r13\": -0.0, \"r21\": 1.0, \"r22\": -0.1, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"C": "{\"tx\": 2820.4, \"ty\": 3661.9, \"tz\": 34.0, \"r11\": -0.1, \"r12\": -1.0, \"r13\": -0.0, \"r21\": 1.0, \"r22\": -0.1, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"D": "{\"tx\": 2840.4, \"ty\": 3671.9, \"tz\": 14.0, \"r11\": -0.1, \"r12\": -1.0, \"r13\": -0.0, \"r21\": 1.0, \"r22\": -0.1, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"E": "{\"tx\": 2830.4, \"ty\": 3671.9, \"tz\": 24.0, \"r11\": -0.1, \"r12\": -1.0, \"r13\": -0.0, \"r21\": 1.0, \"r22\": -0.1, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}"
}
|
E
|
{"tx": 2830.42, "ty": 3671.9, "tz": 23.96, "r11": -0.09, "r12": -1.0, "r13": -0.01, "r21": 1.0, "r22": -0.09, "r23": -0.02, "r31": 0.02, "r32": -0.01, "r33": 1.0}
| 5
|
outdoor
|
|
1071392229495085036_1844_790_1864_790_camera_4.mp4
|
Waymo
|
Spatial Relation
|
Single Choice
|
What is the orientation of the camera mounted on the moving car relative to the car's forward direction?
| 0
| 17.8
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
D
|
Left
| 6
|
outdoor
|
|
10837554759555844344_6525_000_6545_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the red SUV with headlights on over the specified time interval? (at 14s)
|
Object description: A red SUV with headlights on.
| 14
| 14
|
{
"A": "0.00m/s²",
"B": "0.10m/s²",
"C": "0.20m/s²",
"D": "0.30m/s²",
"E": "0.40m/s²"
}
|
A
|
0.00m/s²
| 0
|
outdoor
|
10837554759555844344_6525_000_6545_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the camera over the specified time interval?
| 9.9
| 11
|
{
"A": "30.17m/s",
"B": "19.60m/s",
"C": "16.89m/s",
"D": "22.24m/s",
"E": "14.25m/s"
}
|
B
|
19.56m/s
| 1
|
outdoor
|
|
10837554759555844344_6525_000_6545_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the red SUV with headlights on over the specified time interval?
|
Object description: A red SUV with headlights on.
| 12.8
| 16.8
|
{
"A": "0m/s",
"B": "0.10m/s",
"C": "0.10m/s",
"D": "0.20m/s",
"E": "0.50m/s"
}
|
A
|
0.03m/s
| 2
|
outdoor
|
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