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11450298750351730790_1431_750_1451_750_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: White sedan in heavy traffic.
| 0
| 19.8
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 10
|
outdoor
|
11450298750351730790_1431_750_1451_750_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the white sedan in heavy traffic between two frames?
|
Object description: White sedan in heavy traffic.
| 1.6
| 9.9
|
{
"A": "5.91m",
"B": "7.02m",
"C": "10.40m",
"D": "7.84m",
"E": "8.40m"
}
|
E
|
8.41m
| 11
|
outdoor
|
11450298750351730790_1431_750_1451_750_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": "184.66m",
"B": "166.03m",
"C": "180.00m",
"D": "173.79m",
"E": "158.26m"
}
|
C
|
177.86m
| 12
|
outdoor
|
|
11616035176233595745_3548_820_3568_820_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the blue Chevrolet SUV over the specified time interval? (at 12s)
|
Object description: Blue Chevrolet SUV.
| 12
| 12
|
{
"A": "0.0m/s",
"B": "0.1m/s",
"C": "0.2m/s",
"D": "0.5m/s",
"E": "1.0m/s"
}
|
A
|
0.00m/s
| 0
|
outdoor
|
11616035176233595745_3548_820_3568_820_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the Blue Chevrolet SUV over the specified time interval? (at 12s)
|
Object description: Blue Chevrolet SUV.
| 12
| 12
|
{
"A": "0.00m/s²",
"B": "0.10m/s²",
"C": "0.50m/s²",
"D": "2.00m/s²",
"E": "4.00m/s²"
}
|
A
|
0.00m/s²
| 1
|
outdoor
|
11616035176233595745_3548_820_3568_820_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the white truck with ladders on top over the specified time interval? (at 7s)
|
Object description: White truck with ladders on top.
| 7
| 7
|
{
"A": "0.00m/s",
"B": "0.30m/s",
"C": "0.50m/s",
"D": "0.70m/s",
"E": "1.00m/s"
}
|
A
|
0.00m/s
| 2
|
outdoor
|
11616035176233595745_3548_820_3568_820_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
| 19.6
|
{
"A": "10°",
"B": "11°",
"C": "5°",
"D": "0°",
"E": "6°"
}
|
D
|
0.20°
| 3
|
outdoor
|
|
11616035176233595745_3548_820_3568_820_camera_4.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 19.6
|
{
"A": "move forward 200m",
"B": "move forward 150m, then turn right 30°",
"C": "move forward 100m, then turn left 45°",
"D": "move forward 250m, then turn right 60°",
"E": "move forward 200m, then turn left 90°"
}
|
A
|
move forward 201.16m
| 4
|
outdoor
|
|
11616035176233595745_3548_820_3568_820_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 10087.35, "ty": 8673.13, "tz": -275.7, "r11": -0.03, "r12": -1.0, "r13": 0.01, "r21": 1.0, "r22": -0.03, "r23": -0.03, "r31": 0.03, "r32": 0.01, "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 10s)
| 10
| 10
|
{
"A": "{\"tx\": 10160.0, \"ty\": 8670.0, \"tz\": -276.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": 10180.0, \"ty\": 8670.0, \"tz\": -276.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"C": "{\"tx\": 10170.0, \"ty\": 8680.0, \"tz\": -276.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"D": "{\"tx\": 10170.0, \"ty\": 8670.0, \"tz\": -276.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": 10170.0, \"ty\": 8660.0, \"tz\": -276.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}"
}
|
D
|
{"tx": 10174.92, "ty": 8673.63, "tz": -275.96, "r11": 0.0, "r12": -1.0, "r13": 0.01, "r21": 1.0, "r22": 0.0, "r23": -0.02, "r31": 0.02, "r32": 0.01, "r33": 1.0}
| 5
|
outdoor
|
|
11616035176233595745_3548_820_3568_820_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 10087.35, "ty": 8673.13, "tz": -275.7, "r11": -0.03, "r12": -1.0, "r13": 0.01, "r21": 1.0, "r22": -0.03, "r23": -0.03, "r31": 0.03, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video for the specific frame to match the ground truth. (at 9s)
| 9
| 9
|
{
"A": "{\"tx\": 10090.0, \"ty\": 8660.0, \"tz\": -271.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": 10210.0, \"ty\": 8690.0, \"tz\": -286.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"C": "{\"tx\": 10160.0, \"ty\": 8670.0, \"tz\": -276.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"D": "{\"tx\": 10060.0, \"ty\": 8650.0, \"tz\": -261.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": 10170.0, \"ty\": 8680.0, \"tz\": -281.0, \"r11\": 0.0, \"r12\": -1.0, \"r13\": 0.01, \"r21\": 1.0, \"r22\": 0.0, \"r23\": -0.02, \"r31\": 0.02, \"r32\": 0.01, \"r33\": 1.0}"
}
|
C
|
{"tx": 10164.24, "ty": 8673.66, "tz": -275.96, "r11": 0.0, "r12": -1.0, "r13": 0.01, "r21": 1.0, "r22": 0.0, "r23": -0.02, "r31": 0.02, "r32": 0.01, "r33": 1.0}
| 6
|
outdoor
|
|
11616035176233595745_3548_820_3568_820_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: White truck with ladders on top.
| 0
| 19.6
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
D
|
Left
| 7
|
outdoor
|
11616035176233595745_3548_820_3568_820_camera_4.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the Blue Chevrolet SUV between two frames?
|
Object description: Blue Chevrolet SUV.
| 10.9
| 12.6
|
{
"A": "0.0m",
"B": "0.1m",
"C": "0.2m",
"D": "0.3m",
"E": "0.4m"
}
|
A
|
0.04m
| 8
|
outdoor
|
11660186733224028707_420_000_440_000_camera_3.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most likely minimum relative distance between the Blue SUV with rear spare tire and the White pickup truck at night in the given frame?
|
Objects: Blue SUV with rear spare tire. and White pickup truck at night.
| 7.5
| 7.5
|
{
"A": "14.38 m",
"B": "11.89 m",
"C": "5.25 m",
"D": "6.91 m",
"E": "10.23 m"
}
|
E
|
10.23m
| 0
|
outdoor
|
11660186733224028707_420_000_440_000_camera_3.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of a dark car in dim light over a specified time interval? (at 17s)
|
Object description: A dark car in dim light.
| 17
| 17
|
{
"A": "0.00m/s²",
"B": "0.3m/s²",
"C": "0.5m/s²",
"D": "0.8m/s²",
"E": "1.0m/s²"
}
|
A
|
0.00m/s²
| 1
|
outdoor
|
11660186733224028707_420_000_440_000_camera_3.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the person in the white hoodie over the specified time interval? (at 5s)
|
Object description: Person in white hoodie.
| 5
| 5
|
{
"A": "-0.30m/s²",
"B": "-0.50m/s²",
"C": "-0.70m/s²",
"D": "-0.20m/s²",
"E": "0m/s²"
}
|
B
|
-0.40m/s²
| 2
|
outdoor
|
11660186733224028707_420_000_440_000_camera_3.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
| 19.6
|
{
"A": "15°",
"B": "0°",
"C": "10°",
"D": "12°",
"E": "5°"
}
|
B
|
0.02°
| 3
|
outdoor
|
|
11660186733224028707_420_000_440_000_camera_3.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
Which of the following options most accurately describes the camera's movement trajectory?
| 0
| 19.6
|
{
"A": "move forward 50m, then turn left 70°",
"B": "move forward 80m",
"C": "move forward 100m, then turn right 90°",
"D": "move forward 75m, then turn left 80°",
"E": "move forward 60m, then turn right 60°"
}
|
B
|
move forward 81.76m
| 4
|
outdoor
|
|
11660186733224028707_420_000_440_000_camera_3.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
Which of the following options correctly represents the 3D bounding box localization of a dark SUV with a rear spare tire in camera coordinates?
|
Object description: A dark SUV with a rear spare tire.
| 6
| 6
|
{
"A": "{\"C_lwh\": [4.80, 2.10, 1.90], \"C_central_point\": [3.75, 4.25, 1.55], \"C_heading\": 43.60}",
"B": "{\"C_lwh\": [4.80, 2.10, 1.90], \"C_central_point\": [3.62, 4.12, 1.43], \"C_heading\": 43.60}",
"C": "{\"C_lwh\": [4.80, 2.10, 1.90], \"C_central_point\": [3.50, 4.00, 1.30], \"C_heading\": 43.60}",
"D": "{\"C_lwh\": [4.80, 2.10, 1.90], \"C_central_point\": [3.38, 3.88, 1.26], \"C_heading\": 43.60}",
"E": "{\"C_lwh\": [4.80, 2.10, 1.90], \"C_central_point\": [4.12, 4.62, 1.93], \"C_heading\": 43.60}"
}
|
C
|
{"C_lwh": [4.78, 2.1, 1.94], "C_central_point": [3.51, -4.0, -1.29], "C_heading": 43.55}
| 5
|
outdoor
|
11660186733224028707_420_000_440_000_camera_3.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -30613.23, "ty": 39615.58, "tz": 51.96, "r11": -0.57, "r12": 0.82, "r13": -0.01, "r21": -0.82, "r22": -0.57, "r23": -0.0, "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 first second's camera pose. (at 0s)
| 0
| 0
|
{
"A": "{\"tx\": -30634.41, \"ty\": 39652.86, \"tz\": 81.9, \"r11\": -0.58, \"r12\": 0.82, \"r13\": -0.01, \"r21\": -0.82, \"r22\": -0.58, \"r23\": -0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": -30604.41, \"ty\": 39612.86, \"tz\": 41.9, \"r11\": -0.58, \"r12\": 0.82, \"r13\": -0.01, \"r21\": -0.82, \"r22\": -0.58, \"r23\": -0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"C": "{\"tx\": -30620.41, \"ty\": 39632.86, \"tz\": 61.9, \"r11\": -0.58, \"r12\": 0.82, \"r13\": -0.01, \"r21\": -0.82, \"r22\": -0.58, \"r23\": -0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"D": "{\"tx\": -30614.41, \"ty\": 39622.86, \"tz\": 51.9, \"r11\": -0.58, \"r12\": 0.82, \"r13\": -0.01, \"r21\": -0.82, \"r22\": -0.58, \"r23\": -0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": -30624.41, \"ty\": 39642.86, \"tz\": 71.9, \"r11\": -0.58, \"r12\": 0.82, \"r13\": -0.01, \"r21\": -0.82, \"r22\": -0.58, \"r23\": -0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}"
}
|
D
|
{"tx": -30614.41, "ty": 39622.86, "tz": 51.94, "r11": -0.58, "r12": 0.82, "r13": -0.01, "r21": -0.82, "r22": -0.58, "r23": -0.01, "r31": -0.01, "r32": 0.01, "r33": 1.0}
| 6
|
outdoor
|
|
11660186733224028707_420_000_440_000_camera_3.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -30613.23, "ty": 39615.58, "tz": 51.96, "r11": -0.57, "r12": 0.82, "r13": -0.01, "r21": -0.82, "r22": -0.57, "r23": -0.0, "r31": -0.01, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose for the specific frame of the RGB video. (at 15s)
| 15
| 15
|
{
"A": "{\"tx\": -30615, \"ty\": 39614, \"tz\": 50, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.01, \"r21\": -0.8, \"r22\": -0.6, \"r23\": -0.0, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": -30603, \"ty\": 39556, \"tz\": 54, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.02, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.02, \"r31\": 0.0, \"r32\": 0.02, \"r33\": 1.0}",
"C": "{\"tx\": -30604, \"ty\": 39557, \"tz\": 53, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.02, \"r21\": -0.8, \"r22\": -0.6, \"r23\": 0.02, \"r31\": 0.0, \"r32\": 0.02, \"r33\": 1.0}",
"D": "{\"tx\": -30612, \"ty\": 39617, \"tz\": 51, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.01, \"r21\": -0.8, \"r22\": -0.6, \"r23\": -0.0, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": -30613, \"ty\": 39616, \"tz\": 52, \"r11\": -0.6, \"r12\": 0.8, \"r13\": -0.01, \"r21\": -0.8, \"r22\": -0.6, \"r23\": -0.0, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}"
}
|
C
|
{"tx": -30603.64, "ty": 39556.56, "tz": 52.64, "r11": -0.57, "r12": 0.82, "r13": -0.02, "r21": -0.82, "r22": -0.57, "r23": 0.02, "r31": 0.0, "r32": 0.02, "r33": 1.0}
| 7
|
outdoor
|
|
11660186733224028707_420_000_440_000_camera_3.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 car with red taillights.
| 0
| 19.7
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
C
|
Front-Right
| 8
|
outdoor
|
11660186733224028707_420_000_440_000_camera_3.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the white car with roof sign between the two frames?
|
Object description: White car with roof sign.
| 4.2
| 18
|
{
"A": "0.00m",
"B": "0.10m",
"C": "0.20m",
"D": "0.20m",
"E": "0.30m"
}
|
A
|
0.00m
| 9
|
outdoor
|
11901761444769610243_556_000_576_000_camera_2.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the dark car with faint lights over the specified time interval? (at 10s)
|
Object description: A dark car with faint lights.
| 10
| 10
|
{
"A": "0.00m/s²",
"B": "0.10m/s²",
"C": "0.20m/s²",
"D": "0.50m/s²",
"E": "0.80m/s²"
}
|
A
|
0.00m/s²
| 0
|
outdoor
|
11901761444769610243_556_000_576_000_camera_2.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the dark vehicle at night over the specified time interval?
|
Object description: A dark vehicle at night.
| 8.3
| 10.1
|
{
"A": "0.20m/s",
"B": "0.10m/s",
"C": "0.30m/s",
"D": "0.10m/s",
"E": "0m/s"
}
|
B
|
0.12m/s
| 1
|
outdoor
|
11901761444769610243_556_000_576_000_camera_2.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 18.9
|
{
"A": "move forward 15m, turn right 55°, move forward 110m, turn left 45°, move forward 25m",
"B": "move forward 15m, turn left 55°, move forward 100m, turn left 45°, move forward 25m",
"C": "move forward 15m, turn left 55°, move forward 110m, turn right 45°, move forward 25m",
"D": "move forward 10m, turn right 50°, move forward 120m, turn left 40°, move forward 20m",
"E": "move forward 14m, turn right 60°, move forward 110m, turn left 50°, move forward 24m"
}
|
A
|
move forward 14.74m, turn right 55.02°, move forward 110.17m, turn left 46.75°, move forward 24.68m
| 2
|
outdoor
|
|
11901761444769610243_556_000_576_000_camera_2.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -1474.21, "ty": 1683.71, "tz": 8.45, "r11": 0.13, "r12": -0.99, "r13": 0.05, "r21": 0.99, "r22": 0.12, "r23": -0.06, "r31": 0.05, "r32": 0.05, "r33": 1.0} in the first second's camera pose, estimate and select the most likely camera pose in 3D space using only the RGB video that matches the ground truth. (at 0s)
| 0
| 0
|
{
"A": "{\"tx\": -1485.00, \"ty\": 1670.00, \"tz\": 8.50, \"r11\": 0.10, \"r12\": -1.00, \"r13\": 0.05, \"r21\": 1.00, \"r22\": 0.10, \"r23\": -0.04, \"r31\": 0.03, \"r32\": 0.05, \"r33\": 1.00}",
"B": "{\"tx\": -1465.00, \"ty\": 1695.00, \"tz\": 8.50, \"r11\": 0.10, \"r12\": -1.00, \"r13\": 0.05, \"r21\": 1.00, \"r22\": 0.10, \"r23\": -0.04, \"r31\": 0.03, \"r32\": 0.05, \"r33\": 1.00}",
"C": "{\"tx\": -1470.00, \"ty\": 1690.00, \"tz\": 8.50, \"r11\": 0.10, \"r12\": -1.00, \"r13\": 0.05, \"r21\": 1.00, \"r22\": 0.10, \"r23\": -0.04, \"r31\": 0.03, \"r32\": 0.05, \"r33\": 1.00}",
"D": "{\"tx\": -1480.00, \"ty\": 1675.00, \"tz\": 8.50, \"r11\": 0.10, \"r12\": -1.00, \"r13\": 0.05, \"r21\": 1.00, \"r22\": 0.10, \"r23\": -0.04, \"r31\": 0.03, \"r32\": 0.05, \"r33\": 1.00}",
"E": "{\"tx\": -1476.00, \"ty\": 1682.00, \"tz\": 8.50, \"r11\": 0.10, \"r12\": -1.00, \"r13\": 0.05, \"r21\": 1.00, \"r22\": 0.10, \"r23\": -0.04, \"r31\": 0.03, \"r32\": 0.05, \"r33\": 1.00}"
}
|
E
|
{"tx": -1476.35, "ty": 1682.09, "tz": 8.47, "r11": 0.08, "r12": -1.0, "r13": 0.05, "r21": 1.0, "r22": 0.08, "r23": -0.04, "r31": 0.03, "r32": 0.05, "r33": 1.0}
| 3
|
outdoor
|
|
11901761444769610243_556_000_576_000_camera_2.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -1474.21, "ty": 1683.71, "tz": 8.45, "r11": 0.13, "r12": -0.99, "r13": 0.05, "r21": 0.99, "r22": 0.12, "r23": -0.06, "r31": 0.05, "r32": 0.05, "r33": 1.0}, estimate and select the most likely camera pose in 3D space for the specific frame using only the RGB video, that matches the ground truth. (at 16s)
| 16
| 16
|
{
"A": "{\"tx\": -1380, \"ty\": 1640, \"tz\": 19, \"r11\": 0.8, \"r12\": -0.5, \"r13\": 0.0, \"r21\": 0.5, \"r22\": 0.8, \"r23\": -0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"B": "{\"tx\": -1400, \"ty\": 1650, \"tz\": 11, \"r11\": 0.8, \"r12\": -0.5, \"r13\": 0.0, \"r21\": 0.5, \"r22\": 0.8, \"r23\": -0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"C": "{\"tx\": -1360, \"ty\": 1620, \"tz\": -1, \"r11\": 0.8, \"r12\": -0.5, \"r13\": 0.0, \"r21\": 0.5, \"r22\": 0.8, \"r23\": -0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"D": "{\"tx\": -1390, \"ty\": 1610, \"tz\": 1, \"r11\": 0.8, \"r12\": -0.5, \"r13\": 0.0, \"r21\": 0.5, \"r22\": 0.8, \"r23\": -0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"E": "{\"tx\": -1370, \"ty\": 1630, \"tz\": 9, \"r11\": 0.8, \"r12\": -0.5, \"r13\": 0.0, \"r21\": 0.5, \"r22\": 0.8, \"r23\": -0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}"
}
|
E
|
{"tx": -1366.96, "ty": 1626.18, "tz": 8.94, "r11": 0.84, "r12": -0.54, "r13": -0.0, "r21": 0.54, "r22": 0.84, "r23": -0.02, "r31": 0.01, "r32": 0.02, "r33": 1.0}
| 4
|
outdoor
|
|
11901761444769610243_556_000_576_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: An old bus with roof rack.
| 0
| 18.9
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
B
|
Front-Left
| 5
|
outdoor
|
11901761444769610243_556_000_576_000_camera_2.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement of the camera or object between two frames in a dark scene with faint distant lights?
|
Object description: Dark scene with faint distant lights.
| 7.9
| 10.9
|
{
"A": "0m",
"B": "0.20m",
"C": "0.20m",
"D": "0.40m",
"E": "0.40m"
}
|
C
|
0.21m
| 6
|
outdoor
|
12102100359426069856_3931_470_3951_470_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the Silver Beetle with open trunk over the specified time interval?
|
Object description: Silver Beetle with open trunk.
| 3.3
| 10.6
|
{
"A": "0.00m/s",
"B": "0.1m/s",
"C": "0.5m/s",
"D": "0.2m/s",
"E": "0.4m/s"
}
|
A
|
0.03m/s
| 0
|
outdoor
|
12102100359426069856_3931_470_3951_470_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average speed of the blue sedan on the residential street over the specified time interval?
|
Object description: Blue sedan on residential street.
| 4.3
| 12.2
|
{
"A": "2.00m/s",
"B": "1.50m/s",
"C": "0.00m/s",
"D": "0.50m/s",
"E": "1.00m/s"
}
|
C
|
0.00m/s
| 1
|
outdoor
|
12102100359426069856_3931_470_3951_470_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": "12°",
"C": "0°",
"D": "7°",
"E": "5°"
}
|
C
|
0.61°
| 2
|
outdoor
|
|
12102100359426069856_3931_470_3951_470_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 200m",
"B": "move forward 150m",
"C": "move forward 200m and turn left 75°",
"D": "move forward 250m",
"E": "move forward 200m and turn right 60°"
}
|
A
|
move forward 201.32m
| 3
|
outdoor
|
|
12102100359426069856_3931_470_3951_470_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 2679.49, "ty": 3286.57, "tz": 212.77, "r11": -1.0, "r12": 0.03, "r13": 0.01, "r21": -0.03, "r22": -1.0, "r23": 0.02, "r31": 0.01, "r32": 0.02, "r33": 1.0}, estimate and select the most likely camera pose in 3D space for the specific frame using only the RGB video. (at 10s)
| 10
| 10
|
{
"A": "{\"tx\": 2606.2, \"ty\": 3304.9, \"tz\": 232.9, \"r11\": -1.0, \"r12\": 0.08, \"r13\": 0.0, \"r21\": -0.08, \"r22\": -1.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"B": "{\"tx\": 2576.2, \"ty\": 3274.9, \"tz\": 202.9, \"r11\": -1.0, \"r12\": 0.05, \"r13\": 0.0, \"r21\": -0.05, \"r22\": -1.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"C": "{\"tx\": 2596.2, \"ty\": 3294.9, \"tz\": 222.9, \"r11\": -1.0, \"r12\": 0.07, \"r13\": 0.0, \"r21\": -0.07, \"r22\": -1.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"D": "{\"tx\": 2566.2, \"ty\": 3264.9, \"tz\": 192.9, \"r11\": -1.0, \"r12\": 0.04, \"r13\": 0.0, \"r21\": -0.04, \"r22\": -1.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}",
"E": "{\"tx\": 2586.2, \"ty\": 3284.9, \"tz\": 212.9, \"r11\": -1.0, \"r12\": 0.06, \"r13\": 0.0, \"r21\": -0.06, \"r22\": -1.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}"
}
|
E
|
{"tx": 2586.23, "ty": 3284.92, "tz": 212.87, "r11": -1.0, "r12": 0.06, "r13": 0.0, "r21": -0.06, "r22": -1.0, "r23": 0.0, "r31": 0.0, "r32": 0.0, "r33": 1.0}
| 4
|
outdoor
|
|
12102100359426069856_3931_470_3951_470_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 blue dress by a car.
| 0
| 19.7
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 5
|
outdoor
|
12134738431513647889_3118_000_3138_000_camera_1.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of a black Nissan Versa?
|
Object description: A black Nissan Versa.
| 14.8
| 19.8
|
{
"A": "5.00m",
"B": "4.00m",
"C": "4.50m",
"D": "5.00m",
"E": "4.80m"
}
|
C
|
4.50m, 2.00m, 1.55m
| 0
|
outdoor
|
12134738431513647889_3118_000_3138_000_camera_1.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most likely minimum relative distance between the silver sedan with red taillights and the black sedan with red taillights in the given frame?
|
Objects: Silver sedan with red taillights. and Black sedan with red taillights.
| 14.8
| 14.8
|
{
"A": "4.93m",
"B": "6.19m",
"C": "7.34m",
"D": "6.73m",
"E": "5.68m"
}
|
B
|
6.19m
| 1
|
outdoor
|
12134738431513647889_3118_000_3138_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the silver sedan with red taillights over the specified time interval? (at 3s)
|
Object description: A silver sedan with red taillights.
| 3
| 3
|
{
"A": "0.00m/s",
"B": "0.10m/s",
"C": "0.50m/s",
"D": "1.00m/s",
"E": "1.50m/s"
}
|
A
|
0.00m/s
| 2
|
outdoor
|
12134738431513647889_3118_000_3138_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the black Nissan Versa over the specified time interval? (at 14s)
|
Object description: A black Nissan Versa.
| 14
| 14
|
{
"A": "5.11m/s",
"B": "6.73m/s",
"C": "7.87m/s",
"D": "5.91m/s",
"E": "7.30m/s"
}
|
E
|
7.30m/s
| 3
|
outdoor
|
12134738431513647889_3118_000_3138_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": "0°",
"B": "7°",
"C": "5°",
"D": "10°",
"E": "12°"
}
|
A
|
-0.55°
| 4
|
outdoor
|
|
12134738431513647889_3118_000_3138_000_camera_1.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
Which of the following best describes the camera's movement trajectory?
| 0
| 19.7
|
{
"A": "move forward 20m, then turn right 45°",
"B": "move forward 35m",
"C": "move forward 50m, then turn left 90°",
"D": "move forward 30m, then turn left 60°",
"E": "move forward 40m, then turn right 30°"
}
|
B
|
move forward 35.73m
| 5
|
outdoor
|
|
12134738431513647889_3118_000_3138_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 4153.14, "ty": -2330.14, "tz": 27.59, "r11": -0.93, "r12": -0.37, "r13": 0.04, "r21": 0.37, "r22": -0.93, "r23": 0.01, "r31": 0.03, "r32": 0.02, "r33": 1.0}, estimate and select the most likely camera pose in 3D space for the specific frame at the first second. (at 5s)
| 5
| 5
|
{
"A": "{\"tx\": 4110, \"ty\": -2300, \"tz\": 28, \"r11\": -0.9, \"r12\": -0.4, \"r13\": 0, \"r21\": 0.4, \"r22\": -0.9, \"r23\": 0, \"r31\": 0, \"r32\": 0, \"r33\": 1}",
"B": "{\"tx\": 4120, \"ty\": -2310, \"tz\": 28, \"r11\": -0.9, \"r12\": -0.4, \"r13\": 0, \"r21\": 0.4, \"r22\": -0.9, \"r23\": 0, \"r31\": 0, \"r32\": 0, \"r33\": 1}",
"C": "{\"tx\": 4140, \"ty\": -2330, \"tz\": 28, \"r11\": -0.9, \"r12\": -0.4, \"r13\": 0, \"r21\": 0.4, \"r22\": -0.9, \"r23\": 0, \"r31\": 0, \"r32\": 0, \"r33\": 1}",
"D": "{\"tx\": 4130, \"ty\": -2320, \"tz\": 28, \"r11\": -0.9, \"r12\": -0.4, \"r13\": 0, \"r21\": 0.4, \"r22\": -0.9, \"r23\": 0, \"r31\": 0, \"r32\": 0, \"r33\": 1}",
"E": "{\"tx\": 4150, \"ty\": -2330, \"tz\": 28, \"r11\": -0.9, \"r12\": -0.4, \"r13\": 0, \"r21\": 0.4, \"r22\": -0.9, \"r23\": 0, \"r31\": 0, \"r32\": 0, \"r33\": 1}"
}
|
D
|
{"tx": 4133.55, "ty": -2321.98, "tz": 27.67, "r11": -0.93, "r12": -0.38, "r13": 0.04, "r21": 0.38, "r22": -0.93, "r23": 0.02, "r31": 0.03, "r32": 0.03, "r33": 1.0}
| 6
|
outdoor
|
|
12134738431513647889_3118_000_3138_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 sedan with red taillights.
| 0
| 19.8
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 7
|
outdoor
|
12306251798468767010_560_000_580_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the blue coupe with red taillights over the specified time interval? (at 8s)
|
Object description: A blue coupe with red taillights.
| 8
| 8
|
{
"A": "4.52m/s",
"B": "1.13m/s",
"C": "0.57m/s",
"D": "0.00m/s",
"E": "2.26m/s"
}
|
D
|
0.00m/s
| 0
|
outdoor
|
12306251798468767010_560_000_580_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the White Chevrolet Camaro with red stripes over the specified time interval? (at 19s)
|
Object description: White Chevrolet Camaro with red stripes.
| 19
| 19
|
{
"A": "1.00 m/s²",
"B": "0.00 m/s²",
"C": "1.80 m/s²",
"D": "2.50 m/s²",
"E": "0.50 m/s²"
}
|
B
|
0.00m/s²
| 1
|
outdoor
|
12306251798468767010_560_000_580_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 30.71m, turn left 41.42°, move forward 46.87m",
"B": "move forward 30.00m, turn left 40.00°, move forward 48.00m",
"C": "move forward 29.29m, turn right 40.00°, move forward 48.28m",
"D": "move forward 31.42m, turn left 38.58°, move forward 49.70m",
"E": "move forward 30.00m, turn right 40.71°, move forward 47.58m"
}
|
B
|
move forward 30.90m, turn left 40.85°, move forward 47.86m
| 2
|
outdoor
|
|
12306251798468767010_560_000_580_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -4552.23, "ty": 11386.77, "tz": 191.78, "r11": 0.61, "r12": -0.8, "r13": -0.03, "r21": 0.79, "r22": 0.61, "r23": -0.05, "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 for the specific frame and match the ground truth. (at 17s)
| 17
| 17
|
{
"A": "{\"tx\": -4536.4, \"ty\": 11450.6, \"tz\": 204.8, \"r11\": -0.3, \"r12\": -0.9, \"r13\": 0.0, \"r21\": 0.9, \"r22\": -0.3, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"B": "{\"tx\": -4539.4, \"ty\": 11460.6, \"tz\": 214.8, \"r11\": -0.3, \"r12\": -0.9, \"r13\": 0.0, \"r21\": 0.9, \"r22\": -0.3, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"C": "{\"tx\": -4556.4, \"ty\": 11420.6, \"tz\": 194.8, \"r11\": -0.3, \"r12\": -0.9, \"r13\": 0.0, \"r21\": 0.9, \"r22\": -0.3, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"D": "{\"tx\": -4566.4, \"ty\": 11430.6, \"tz\": 184.8, \"r11\": -0.3, \"r12\": -0.9, \"r13\": 0.0, \"r21\": 0.9, \"r22\": -0.3, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"E": "{\"tx\": -4546.4, \"ty\": 11440.6, \"tz\": 194.8, \"r11\": -0.3, \"r12\": -0.9, \"r13\": 0.0, \"r21\": 0.9, \"r22\": -0.3, \"r23\": -0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}"
}
|
E
|
{"tx": -4546.44, "ty": 11440.64, "tz": 194.78, "r11": -0.33, "r12": -0.95, "r13": 0.0, "r21": 0.94, "r22": -0.33, "r23": -0.04, "r31": 0.04, "r32": -0.01, "r33": 1.0}
| 3
|
outdoor
|
|
12306251798468767010_560_000_580_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -4552.23, "ty": 11386.77, "tz": 191.78, "r11": 0.61, "r12": -0.8, "r13": -0.03, "r21": 0.79, "r22": 0.61, "r23": -0.05, "r31": 0.06, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose for the specific frame from the options below. (at 5s)
| 5
| 5
|
{
"A": "{\"tx\": -4562.2, \"ty\": 11376.8, \"tz\": 191.8, \"r11\": 0.61, \"r12\": -0.8, \"r13\": -0.03, \"r21\": 0.79, \"r22\": 0.61, \"r23\": -0.05, \"r31\": 0.06, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": -4532.2, \"ty\": 11420.8, \"tz\": 194.8, \"r11\": 0.35, \"r12\": -0.92, \"r13\": 0.00, \"r21\": 0.92, \"r22\": 0.35, \"r23\": -0.05, \"r31\": 0.05, \"r32\": 0.01, \"r33\": 1.0}",
"C": "{\"tx\": -4542.7, \"ty\": 11400.9, \"tz\": 192.7, \"r11\": 0.41, \"r12\": -0.91, \"r13\": -0.01, \"r21\": 0.91, \"r22\": 0.41, \"r23\": -0.05, \"r31\": 0.05, \"r32\": 0.01, \"r33\": 1.0}",
"D": "{\"tx\": -4540.2, \"ty\": 11410.8, \"tz\": 193.8, \"r11\": 0.45, \"r12\": -0.88, \"r13\": -0.01, \"r21\": 0.88, \"r22\": 0.45, \"r23\": -0.05, \"r31\": 0.05, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": -4550.2, \"ty\": 11396.8, \"tz\": 191.7, \"r11\": 0.51, \"r12\": -0.85, \"r13\": -0.02, \"r21\": 0.85, \"r22\": 0.51, \"r23\": -0.05, \"r31\": 0.06, \"r32\": 0.01, \"r33\": 1.0}"
}
|
C
|
{"tx": -4542.69, "ty": 11400.9, "tz": 192.71, "r11": 0.41, "r12": -0.91, "r13": -0.01, "r21": 0.91, "r22": 0.41, "r23": -0.05, "r31": 0.05, "r32": 0.01, "r33": 1.0}
| 4
|
outdoor
|
|
12306251798468767010_560_000_580_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 blue coupe with red taillights.
| 0
| 19.8
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 5
|
outdoor
|
12306251798468767010_560_000_580_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the white car with black roof between two frames?
|
Object description: White car with black roof.
| 0
| 13.6
|
{
"A": "0.10m",
"B": "0.20m",
"C": "0.40m",
"D": "0.30m",
"E": "0.20m"
}
|
E
|
0.21m
| 6
|
outdoor
|
12306251798468767010_560_000_580_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the White Chevrolet Camaro with red stripes between two frames?
|
Object description: White Chevrolet Camaro with red stripes.
| 5.8
| 19.4
|
{
"A": "0.0m",
"B": "0.1m",
"C": "0.1m",
"D": "0.2m",
"E": "0.2m"
}
|
A
|
0.08m
| 7
|
outdoor
|
12358364923781697038_2232_990_2252_990_camera_4.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the length of the silver SUV with tinted windows?
|
Object description: A silver SUV with tinted windows.
| 4.8
| 7.5
|
{
"A": "5.60m",
"B": "4.60m",
"C": "2.30m",
"D": "5.10m",
"E": "1.80m"
}
|
D
|
5.10m, 2.28m, 1.76m
| 0
|
outdoor
|
12358364923781697038_2232_990_2252_990_camera_4.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length for the black Acura SUV?
|
Object description: A black Acura SUV.
| 18.5
| 19.9
|
{
"A": "5.10m",
"B": "2.90m",
"C": "3.90m",
"D": "4.60m",
"E": "6.00m"
}
|
A
|
5.13m, 2.32m, 1.89m
| 1
|
outdoor
|
12358364923781697038_2232_990_2252_990_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the black Acura SUV over the specified time interval? (at 18s)
|
Object description: A black Acura SUV.
| 18
| 18
|
{
"A": "0.00m/s²",
"B": "0.10m/s²",
"C": "0.20m/s²",
"D": "0.40m/s²",
"E": "0.80m/s²"
}
|
A
|
0.00m/s²
| 2
|
outdoor
|
12358364923781697038_2232_990_2252_990_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
| 19.8
|
{
"A": "0°",
"B": "10°",
"C": "7°",
"D": "5°",
"E": "12°"
}
|
A
|
0.59°
| 3
|
outdoor
|
|
12358364923781697038_2232_990_2252_990_camera_4.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 19.8
|
{
"A": "move forward 70m, then turn right 75°",
"B": "move forward 70m",
"C": "move forward 75m, then turn left 90°",
"D": "move forward 80m, then turn right 60°",
"E": "move forward 70m, then turn left 45°"
}
|
B
|
move forward 73.20m
| 4
|
outdoor
|
|
12358364923781697038_2232_990_2252_990_camera_4.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What are the camera coordinates for the 3D bounding box of the silver SUV with tinted windows in the selected frame?
|
Object description: A silver SUV with tinted windows.
| 7
| 7
|
{
"A": "{\"C_lwh\": [5.10, 2.30, 1.80], \"C_central_point\": [11.12, 6.03, 1.20], \"C_heading\": 90.00}",
"B": "{\"C_lwh\": [5.10, 2.30, 1.80], \"C_central_point\": [9.88, 4.78, 1.20], \"C_heading\": 90.00}",
"C": "{\"C_lwh\": [5.10, 2.30, 1.80], \"C_central_point\": [10.50, 5.40, 1.20], \"C_heading\": 90.00}",
"D": "{\"C_lwh\": [5.10, 2.30, 1.80], \"C_central_point\": [10.75, 5.65, 1.20], \"C_heading\": 90.00}",
"E": "{\"C_lwh\": [5.10, 2.30, 1.80], \"C_central_point\": [10.25, 5.15, 1.20], \"C_heading\": 90.00}"
}
|
C
|
{"C_lwh": [5.1, 2.28, 1.76], "C_central_point": [10.48, 5.43, -1.18], "C_heading": 89.92}
| 5
|
outdoor
|
12358364923781697038_2232_990_2252_990_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 1801.96, "ty": -5539.16, "tz": 116.61, "r11": -0.08, "r12": 1.0, "r13": 0.01, "r21": -1.0, "r22": -0.08, "r23": 0.02, "r31": 0.02, "r32": -0.0, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video and match the ground truth for the specific frame. (at 13s)
| 13
| 13
|
{
"A": "Camera pose: {\"tx\": 1754.2, \"ty\": -5547.2, \"tz\": 126.5, \"r11\": -0.08, \"r12\": 1.0, \"r13\": 0.01, \"r21\": -1.0, \"r22\": -0.08, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.01, \"r33\": 1.0}",
"B": "Camera pose: {\"tx\": 1744.15, \"ty\": -5537.17, \"tz\": 116.52, \"r11\": -0.08, \"r12\": 1.0, \"r13\": 0.01, \"r21\": -1.0, \"r22\": -0.08, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.01, \"r33\": 1.0}",
"C": "Camera pose: {\"tx\": 1794.2, \"ty\": -5587.2, \"tz\": 166.5, \"r11\": -0.08, \"r12\": 1.0, \"r13\": 0.01, \"r21\": -1.0, \"r22\": -0.08, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.01, \"r33\": 1.0}",
"D": "Camera pose: {\"tx\": 1764.2, \"ty\": -5557.2, \"tz\": 136.5, \"r11\": -0.08, \"r12\": 1.0, \"r13\": 0.01, \"r21\": -1.0, \"r22\": -0.08, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.01, \"r33\": 1.0}",
"E": "Camera pose: {\"tx\": 1784.2, \"ty\": -5577.2, \"tz\": 156.5, \"r11\": -0.08, \"r12\": 1.0, \"r13\": 0.01, \"r21\": -1.0, \"r22\": -0.08, \"r23\": -0.0, \"r31\": -0.0, \"r32\": -0.01, \"r33\": 1.0}"
}
|
B
|
{"tx": 1744.15, "ty": -5537.17, "tz": 116.52, "r11": -0.08, "r12": 1.0, "r13": 0.01, "r21": -1.0, "r22": -0.08, "r23": -0.0, "r31": -0.0, "r32": -0.01, "r33": 1.0}
| 6
|
outdoor
|
|
12358364923781697038_2232_990_2252_990_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 1801.96, "ty": -5539.16, "tz": 116.61, "r11": -0.08, "r12": 1.0, "r13": 0.01, "r21": -1.0, "r22": -0.08, "r23": 0.02, "r31": 0.02, "r32": -0.0, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video and selecting the most appropriate estimation to match the ground truth. (at 19s)
| 19
| 19
|
{
"A": "{\"tx\": 1810.00, \"ty\": -5550.00, \"tz\": 125.00, \"r11\": -0.05, \"r12\": 0.99, \"r13\": 0.03, \"r21\": -0.99, \"r22\": -0.05, \"r23\": 0.02, \"r31\": 0.03, \"r32\": -0.02, \"r33\": 0.98}",
"B": "{\"tx\": 1740.60, \"ty\": -5536.30, \"tz\": 116.60, \"r11\": -0.3, \"r12\": 0.95, \"r13\": 0.01, \"r21\": -0.95, \"r22\": -0.3, \"r23\": -0.02, \"r31\": -0.01, \"r32\": -0.02, \"r33\": 1.0}",
"C": "{\"tx\": 1735.00, \"ty\": -5531.00, \"tz\": 110.00, \"r11\": -0.35, \"r12\": 0.94, \"r13\": 0.02, \"r21\": -0.94, \"r22\": -0.35, \"r23\": 0.01, \"r31\": 0.02, \"r32\": -0.02, \"r33\": 0.99}",
"D": "{\"tx\": 1805.00, \"ty\": -5545.00, \"tz\": 115.00, \"r11\": -0.2, \"r12\": 0.98, \"r13\": 0.01, \"r21\": -0.98, \"r22\": -0.2, \"r23\": 0.02, \"r31\": 0.01, \"r32\": -0.01, \"r33\": 0.98}",
"E": "{\"tx\": 1800.00, \"ty\": -5540.00, \"tz\": 120.00, \"r11\": -0.1, \"r12\": 0.99, \"r13\": 0.02, \"r21\": -0.99, \"r22\": -0.1, \"r23\": 0.01, \"r31\": 0.02, \"r32\": -0.01, \"r33\": 0.99}"
}
|
B
|
{"tx": 1740.61, "ty": -5536.27, "tz": 116.55, "r11": -0.3, "r12": 0.95, "r13": 0.01, "r21": -0.95, "r22": -0.3, "r23": -0.02, "r31": -0.01, "r32": -0.02, "r33": 1.0}
| 7
|
outdoor
|
|
12358364923781697038_2232_990_2252_990_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: A silver SUV with tinted windows.
| 0
| 19.9
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
D
|
Left
| 8
|
outdoor
|
12358364923781697038_2232_990_2252_990_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
| 19.8
|
{
"A": "70.00m",
"B": "65.69m",
"C": "71.44m",
"D": "69.28m",
"E": "67.85m"
}
|
A
|
73.20m
| 9
|
outdoor
|
|
12374656037744638388_1412_711_1432_711_camera_1.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of the White Dodge pickup truck?
|
Object description: White Dodge pickup truck.
| 0.1
| 6.4
|
{
"A": "6.20m",
"B": "5.70m",
"C": "5.00m",
"D": "6.30m",
"E": "5.10m"
}
|
B
|
5.69m, 2.48m, 1.86m
| 0
|
outdoor
|
12374656037744638388_1412_711_1432_711_camera_1.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the length of the silver sedan with red taillights?
|
Object description: A silver sedan with red taillights.
| 1.1
| 12.8
|
{
"A": "5.00m",
"B": "1.20m",
"C": "2.90m",
"D": "3.80m",
"E": "4.50m"
}
|
E
|
4.52m, 2.09m, 1.49m
| 1
|
outdoor
|
12374656037744638388_1412_711_1432_711_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate average or instantaneous speed of the white Dodge pickup truck over the specified time interval? (at 6s)
|
Object description: White Dodge pickup truck.
| 6
| 6
|
{
"A": "2.04m/s",
"B": "4.60m/s",
"C": "6.05m/s",
"D": "6.61m/s",
"E": "4.04m/s"
}
|
B
|
4.56m/s
| 2
|
outdoor
|
12374656037744638388_1412_711_1432_711_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
| 19.8
|
{
"A": "0°",
"B": "10°",
"C": "15°",
"D": "12°",
"E": "5°"
}
|
A
|
0.60°
| 3
|
outdoor
|
|
12374656037744638388_1412_711_1432_711_camera_1.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 19.8
|
{
"A": "move forward 300m",
"B": "move forward 250m",
"C": "move forward 300m",
"D": "move forward 200m",
"E": "move forward 350m"
}
|
C
|
move forward 296.51m
| 4
|
outdoor
|
|
12374656037744638388_1412_711_1432_711_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 352.49, "ty": 6402.94, "tz": 91.49, "r11": 0.35, "r12": -0.94, "r13": 0.02, "r21": 0.94, "r22": 0.35, "r23": -0.01, "r31": 0.0, "r32": 0.03, "r33": 1.0}, estimate and select the most likely camera pose in 3D space for a specific frame using only the RGB video. (at 15s)
| 15
| 15
|
{
"A": "{\"tx\": 496.4, \"ty\": 6546.9, \"tz\": 101.0, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.02, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.01, \"r32\": 0.02, \"r33\": 1.0}",
"B": "{\"tx\": 494.4, \"ty\": 6544.9, \"tz\": 91.0, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.02, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.01, \"r32\": 0.02, \"r33\": 1.0}",
"C": "{\"tx\": 490.4, \"ty\": 6540.9, \"tz\": 86.0, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.02, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.01, \"r32\": 0.02, \"r33\": 1.0}",
"D": "{\"tx\": 500.4, \"ty\": 6550.9, \"tz\": 96.0, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.02, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.01, \"r32\": 0.02, \"r33\": 1.0}",
"E": "{\"tx\": 492.4, \"ty\": 6542.9, \"tz\": 81.0, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.02, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.01, \"r32\": 0.02, \"r33\": 1.0}"
}
|
B
|
{"tx": 494.45, "ty": 6544.89, "tz": 90.96, "r11": 0.85, "r12": -0.52, "r13": 0.02, "r21": 0.52, "r22": 0.85, "r23": -0.02, "r31": -0.01, "r32": 0.02, "r33": 1.0}
| 5
|
outdoor
|
|
12374656037744638388_1412_711_1432_711_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 352.49, "ty": 6402.94, "tz": 91.49, "r11": 0.35, "r12": -0.94, "r13": 0.02, "r21": 0.94, "r22": 0.35, "r23": -0.01, "r31": 0.0, "r32": 0.03, "r33": 1.0}, estimate and select the most likely camera pose in 3D space for the first second using only the RGB video. (at 17s)
| 17
| 17
|
{
"A": "{\"tx\": 515.3, \"ty\": 6543.5, \"tz\": 85.7, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.01, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.0, \"r32\": 0.02, \"r33\": 1.0}",
"B": "{\"tx\": 545.3, \"ty\": 6583.5, \"tz\": 92.7, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.01, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.0, \"r32\": 0.02, \"r33\": 1.0}",
"C": "{\"tx\": 525.3, \"ty\": 6563.5, \"tz\": 90.7, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.01, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.0, \"r32\": 0.02, \"r33\": 1.0}",
"D": "{\"tx\": 523.3, \"ty\": 6565.5, \"tz\": 89.7, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.01, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.0, \"r32\": 0.02, \"r33\": 1.0}",
"E": "{\"tx\": 535.3, \"ty\": 6573.5, \"tz\": 95.7, \"r11\": 0.85, \"r12\": -0.52, \"r13\": 0.01, \"r21\": 0.52, \"r22\": 0.85, \"r23\": -0.02, \"r31\": -0.0, \"r32\": 0.02, \"r33\": 1.0}"
}
|
C
|
{"tx": 525.29, "ty": 6563.45, "tz": 90.72, "r11": 0.85, "r12": -0.52, "r13": 0.01, "r21": 0.52, "r22": 0.85, "r23": -0.02, "r31": -0.0, "r32": 0.02, "r33": 1.0}
| 6
|
outdoor
|
|
12374656037744638388_1412_711_1432_711_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: White Dodge pickup truck.
| 0
| 19.8
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 7
|
outdoor
|
12374656037744638388_1412_711_1432_711_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the white Dodge pickup truck between two frames?
|
Object description: White Dodge pickup truck.
| 0
| 6.3
|
{
"A": "59.99m",
"B": "56.00m",
"C": "50.01m",
"D": "64.27m",
"E": "52.08m"
}
|
B
|
56.03m
| 8
|
outdoor
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of a silver sedan car?
|
Object description: A silver sedan car.
| 14.3
| 15.8
|
{
"A": "5.50m",
"B": "4.00m",
"C": "3.90m",
"D": "5.10m",
"E": "4.60m"
}
|
E
|
4.61m, 2.18m, 1.39m
| 0
|
outdoor
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of the silver SUV with roof racks?
|
Object description: Silver SUV with roof racks.
| 8.4
| 10.1
|
{
"A": "6.85m",
"B": "4.98m",
"C": "5.60m",
"D": "3.73m",
"E": "6.13m"
}
|
C
|
5.56m, 2.24m, 1.87m
| 1
|
outdoor
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the black SUV with silver trim over the specified time interval? (at 12s)
|
Object description: Black SUV with silver trim.
| 12
| 12
|
{
"A": "0.00m/s",
"B": "0.10m/s",
"C": "0.10m/s",
"D": "0.20m/s",
"E": "0.40m/s"
}
|
C
|
0.14m/s
| 2
|
outdoor
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous speed of the silver sedan car over the specified time interval? (at 15s)
|
Object description: A silver sedan car.
| 15
| 15
|
{
"A": "0.00m/s",
"B": "0.20m/s",
"C": "0.20m/s",
"D": "0.30m/s",
"E": "0.20m/s"
}
|
C
|
0.17m/s
| 3
|
outdoor
|
12496433400137459534_120_000_140_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
| 19.6
|
{
"A": "10°",
"B": "17°",
"C": "0°",
"D": "5°",
"E": "15°"
}
|
C
|
1.68°
| 4
|
outdoor
|
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 19.6
|
{
"A": "move forward 120m",
"B": "move forward 100m",
"C": "move forward 120m, then turn right 45°",
"D": "move forward 150m",
"E": "move forward 120m, then turn left 30°"
}
|
A
|
move forward 121.13m
| 5
|
outdoor
|
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
Which of the following options correctly describes the 3D bounding box of the dark SUV with chrome trim in camera coordinates?
|
Object description: Dark SUV with chrome trim.
| 12
| 12
|
{
"A": "{\"C_lwh\": [4.85, 2.03, 1.94], \"C_central_point\": [7.80, 5.40, 1.40], \"C_heading\": 89.70}",
"B": "{\"C_lwh\": [4.85, 2.03, 1.94], \"C_central_point\": [8.80, 5.40, 1.40], \"C_heading\": 89.70}",
"C": "{\"C_lwh\": [4.85, 2.03, 1.94], \"C_central_point\": [8.30, 5.40, 1.40], \"C_heading\": 89.70}",
"D": "{\"C_lwh\": [4.85, 2.03, 1.94], \"C_central_point\": [10.30, 5.40, 1.40], \"C_heading\": 89.70}",
"E": "{\"C_lwh\": [4.85, 2.03, 1.94], \"C_central_point\": [10.80, 5.40, 1.40], \"C_heading\": 89.70}"
}
|
C
|
{"C_lwh": [4.85, 2.03, 1.94], "C_central_point": [8.34, 5.4, -1.37], "C_heading": 89.72}
| 6
|
outdoor
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 3606.63, "ty": 1970.24, "tz": -189.87, "r11": 1.0, "r12": -0.09, "r13": 0.0, "r21": 0.09, "r22": 1.0, "r23": -0.01, "r31": -0.0, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose in 3D space at the first second's frame using only the RGB video. (at 12s)
| 12
| 12
|
{
"A": "{\"tx\": 3596.5, \"ty\": 1961.0, \"tz\": -169.5, \"r11\": 1.0, \"r12\": -0.1, \"r13\": -0.1, \"r21\": 0.1, \"r22\": 1.0, \"r23\": 0.0, \"r31\": 0.1, \"r32\": -0.0, \"r33\": 1.0}",
"B": "{\"tx\": 3611.5, \"ty\": 1909.0, \"tz\": -189.5, \"r11\": 1.0, \"r12\": -0.1, \"r13\": -0.0, \"r21\": 0.1, \"r22\": 1.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"C": "{\"tx\": 3621.5, \"ty\": 1899.0, \"tz\": -179.5, \"r11\": 1.0, \"r12\": -0.1, \"r13\": -0.0, \"r21\": 0.1, \"r22\": 1.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": -0.0, \"r33\": 1.0}",
"D": "{\"tx\": 3606.6, \"ty\": 1970.2, \"tz\": -189.9, \"r11\": 1.0, \"r12\": -0.1, \"r13\": 0.0, \"r21\": 0.1, \"r22\": 1.0, \"r23\": -0.0, \"r31\": -0.0, \"r32\": 0.0, \"r33\": 1.0}",
"E": "{\"tx\": 3601.5, \"ty\": 1989.0, \"tz\": -199.5, \"r11\": 1.0, \"r12\": -0.1, \"r13\": -0.0, \"r21\": 0.1, \"r22\": 1.0, \"r23\": 0.0, \"r31\": 0.0, \"r32\": 0.0, \"r33\": 1.0}"
}
|
B
|
{"tx": 3611.47, "ty": 1908.97, "tz": -189.45, "r11": 1.0, "r12": -0.08, "r13": -0.02, "r21": 0.08, "r22": 1.0, "r23": 0.01, "r31": 0.02, "r32": -0.01, "r33": 1.0}
| 7
|
outdoor
|
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 3606.63, "ty": 1970.24, "tz": -189.87, "r11": 1.0, "r12": -0.09, "r13": 0.0, "r21": 0.09, "r22": 1.0, "r23": -0.01, "r31": -0.0, "r32": 0.01, "r33": 1.0}, estimate and select the most likely camera pose in 3D space using only the RGB video and matching the ground truth for the first second's frame. (at 16s)
| 16
| 16
|
{
"A": "tx: 3611.60, ty: 1960.20, tz: -188.90, r11: 0.98, r12: -0.08, r13: -0.02, r21: 0.08, r22: 0.98, r23: 0.01, r31: 0.02, r32: -0.01, r33: 0.98",
"B": "tx: 3625.60, ty: 1855.20, tz: -191.90, r11: 1.0, r12: -0.05, r13: -0.05, r21: 0.05, r22: 1.0, r23: 0.03, r31: 0.05, r32: -0.03, r33: 1.0",
"C": "tx: 3620.60, ty: 1880.20, tz: -190.90, r11: 1.0, r12: -0.07, r13: -0.02, r21: 0.07, r22: 1.0, r23: 0.02, r31: 0.02, r32: -0.02, r33: 1.0",
"D": "tx: 3605.60, ty: 1978.20, tz: -189.90, r11: 1.0, r12: -0.10, r13: 0.01, r21: 0.10, r22: 1.0, r23: -0.02, r31: -0.01, r32: 0.02, r33: 1.0",
"E": "tx: 3614.00, ty: 1873.10, tz: -189.20, r11: 1.0, r12: -0.06, r13: -0.03, r21: 0.06, r22: 1.0, r23: 0.01, r31: 0.03, r32: -0.01, r33: 1.0"
}
|
E
|
{"tx": 3613.98, "ty": 1873.14, "tz": -189.15, "r11": 1.0, "r12": -0.06, "r13": -0.03, "r21": 0.06, "r22": 1.0, "r23": 0.01, "r31": 0.03, "r32": -0.01, "r33": 1.0}
| 8
|
outdoor
|
|
12496433400137459534_120_000_140_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: Silver pickup truck with ladder rack.
| 0
| 19.7
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
D
|
Left
| 9
|
outdoor
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement of the silver sedan car between two frames?
|
Object description: A silver sedan car.
| 14.2
| 15.7
|
{
"A": "0.00m",
"B": "0.10m",
"C": "0.20m",
"D": "0.20m",
"E": "0.30m"
}
|
C
|
0.16m
| 10
|
outdoor
|
12496433400137459534_120_000_140_000_camera_4.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the silver SUV with roof racks between two frames?
|
Object description: Silver SUV with roof racks.
| 8.3
| 10
|
{
"A": "0.10m",
"B": "0.20m",
"C": "0.00m",
"D": "0.30m",
"E": "0.50m"
}
|
C
|
0.00m
| 11
|
outdoor
|
12657584952502228282_3940_000_3960_000_camera_1.mp4
|
Waymo
|
Speed & Acceleration
|
Single Choice
|
What is the most appropriate instantaneous acceleration of the silver SUV in front of cars over the specified time interval? (at 1s)
|
Object description: A silver SUV in front of cars.
| 1
| 1
|
{
"A": "0.00 m/s²",
"B": "0.10 m/s²",
"C": "0.20 m/s²",
"D": "0.30 m/s²",
"E": "0.40 m/s²"
}
|
A
|
0.00m/s²
| 0
|
outdoor
|
12657584952502228282_3940_000_3960_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": "0°",
"C": "12°",
"D": "15°",
"E": "5°"
}
|
B
|
-1.38°
| 1
|
outdoor
|
|
12657584952502228282_3940_000_3960_000_camera_1.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
Which of the following best describes the camera's movement trajectory?
| 0
| 19.7
|
{
"A": "move forward 130m",
"B": "move forward 120m, then turn left 75°",
"C": "move forward 130m, then turn right 90°",
"D": "move forward 130m, then turn left 45°",
"E": "move forward 100m, then turn right 60°"
}
|
A
|
move forward 128.17m
| 2
|
outdoor
|
|
12657584952502228282_3940_000_3960_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What are the camera coordinates of the 3D bounding box for the silver car with rear damage when it first co-occurs with the black car with headlights on?
|
Target object description: Silver car with rear damage.; Condition object description: A black car with headlights on.
| 0
| 0
|
{
"A": "{\"C_lwh\": [4.71, 2.18, 1.52], \"C_central_point\": [29.68, 2.90, 1.73], \"C_heading\": 1.10}",
"B": "{\"C_lwh\": [4.71, 2.18, 1.52], \"C_central_point\": [30.30, 2.90, 1.10], \"C_heading\": 1.10}",
"C": "{\"C_lwh\": [4.71, 2.18, 1.52], \"C_central_point\": [30.43, 2.90, 1.59], \"C_heading\": 1.10}",
"D": "{\"C_lwh\": [4.71, 2.18, 1.52], \"C_central_point\": [30.93, 2.90, 1.10], \"C_heading\": 1.10}",
"E": "{\"C_lwh\": [4.71, 2.18, 1.52], \"C_central_point\": [30.18, 3.52, 1.73], \"C_heading\": 1.10}"
}
|
B
|
{"C_lwh": [4.71, 2.18, 1.52], "C_central_point": [30.34, -2.87, -1.08], "C_heading": 1.11}
| 3
|
outdoor
|
12657584952502228282_3940_000_3960_000_camera_1.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What are the camera coordinates for the 3D bounding box of a black Fiat 500 at the frame where it last co-occurs with a lineup of parked cars at night?
|
Target object description: A black Fiat 500.; Condition object description: A lineup of parked cars at night.
| 15
| 15
|
{
"A": "{\"C_lwh\": [3.54, 1.87, 1.68], \"C_central_point\": [30.38, 3.445, 0.89], \"C_heading\": 2.6}",
"B": "{\"C_lwh\": [3.71, 1.96, 1.75], \"C_central_point\": [32.83, 2.87, 0.96], \"C_heading\": 3.61}",
"C": "{\"C_lwh\": [3.49, 3.394, 1.64], \"C_central_point\": [29.94, 2.62, 0.88], \"C_heading\": 1.8}",
"D": "{\"C_lwh\": [3.60, 1.90, 1.70], \"C_central_point\": [30.90, 2.70, 0.90], \"C_heading\": 3.50}",
"E": "{\"C_lwh\": [3.83, 2.01, 1.80], \"C_central_point\": [34.77, 3.04, 1.02], \"C_heading\": 3.72}"
}
|
D
|
{"C_lwh": [3.63, 1.86, 1.66], "C_central_point": [30.92, -2.72, -0.92], "C_heading": 3.51}
| 4
|
outdoor
|
12657584952502228282_3940_000_3960_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -2406.17, "ty": 12929.2, "tz": -165.41, "r11": -1.0, "r12": 0.07, "r13": 0.03, "r21": -0.06, "r22": -1.0, "r23": 0.02, "r31": 0.03, "r32": 0.02, "r33": 1.0}, estimate and select the most likely 3D camera pose for the specific frame that matches the ground truth. (at 2s)
| 2
| 2
|
{
"A": "{\"tx\": -2412.4, \"ty\": 12918.9, \"tz\": -165.1, \"r11\": -1.0, \"r12\": 0.07, \"r13\": 0.03, \"r21\": -0.07, \"r22\": -1.0, \"r23\": 0.03, \"r31\": 0.03, \"r32\": 0.03, \"r33\": 1.0}",
"B": "{\"tx\": -2412.4, \"ty\": 12938.9, \"tz\": -165.1, \"r11\": -1.0, \"r12\": 0.07, \"r13\": 0.03, \"r21\": -0.07, \"r22\": -1.0, \"r23\": 0.03, \"r31\": 0.03, \"r32\": 0.03, \"r33\": 1.0}",
"C": "{\"tx\": -2402.4, \"ty\": 12928.9, \"tz\": -165.1, \"r11\": -1.0, \"r12\": 0.07, \"r13\": 0.03, \"r21\": -0.07, \"r22\": -1.0, \"r23\": 0.03, \"r31\": 0.03, \"r32\": 0.03, \"r33\": 1.0}",
"D": "{\"tx\": -2412.4, \"ty\": 12928.9, \"tz\": -165.1, \"r11\": -1.0, \"r12\": 0.07, \"r13\": 0.03, \"r21\": -0.07, \"r22\": -1.0, \"r23\": 0.03, \"r31\": 0.03, \"r32\": 0.03, \"r33\": 1.0}",
"E": "{\"tx\": -2430.4, \"ty\": 12928.9, \"tz\": -165.1, \"r11\": -1.0, \"r12\": 0.07, \"r13\": 0.03, \"r21\": -0.07, \"r22\": -1.0, \"r23\": 0.03, \"r31\": 0.03, \"r32\": 0.03, \"r33\": 1.0}"
}
|
D
|
{"tx": -2412.39, "ty": 12928.86, "tz": -165.13, "r11": -1.0, "r12": 0.07, "r13": 0.03, "r21": -0.07, "r22": -1.0, "r23": 0.03, "r31": 0.03, "r32": 0.03, "r33": 1.0}
| 5
|
outdoor
|
|
12657584952502228282_3940_000_3960_000_camera_1.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": -2406.17, "ty": 12929.2, "tz": -165.41, "r11": -1.0, "r12": 0.07, "r13": 0.03, "r21": -0.06, "r22": -1.0, "r23": 0.02, "r31": 0.03, "r32": 0.02, "r33": 1.0}, estimate and select the most likely camera pose for the first second's camera pose from the options below. (at 11s)
| 11
| 11
|
{
"A": "{\"tx\": -2470.00, \"ty\": 12930.00, \"tz\": -170.00, \"r11\": -0.99, \"r12\": 0.11, \"r13\": -0.02, \"r21\": -0.11, \"r22\": -0.99, \"r23\": 0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"B": "{\"tx\": -2450.00, \"ty\": 12924.00, \"tz\": -163.00, \"r11\": -0.99, \"r12\": 0.11, \"r13\": -0.02, \"r21\": -0.11, \"r22\": -0.99, \"r23\": 0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"C": "{\"tx\": -2400.00, \"ty\": 12920.00, \"tz\": -160.00, \"r11\": -0.99, \"r12\": 0.11, \"r13\": -0.02, \"r21\": -0.11, \"r22\": -0.99, \"r23\": 0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"D": "{\"tx\": -2463.00, \"ty\": 12924.70, \"tz\": -163.60, \"r11\": -0.99, \"r12\": 0.11, \"r13\": -0.02, \"r21\": -0.11, \"r22\": -0.99, \"r23\": 0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}",
"E": "{\"tx\": -2465.00, \"ty\": 12924.70, \"tz\": -163.60, \"r11\": -0.99, \"r12\": 0.11, \"r13\": -0.02, \"r21\": -0.11, \"r22\": -0.99, \"r23\": 0.01, \"r31\": -0.01, \"r32\": 0.01, \"r33\": 1.0}"
}
|
D
|
{"tx": -2463.04, "ty": 12924.69, "tz": -163.58, "r11": -0.99, "r12": 0.11, "r13": -0.02, "r21": -0.11, "r22": -0.99, "r23": 0.01, "r31": -0.01, "r32": 0.01, "r33": 1.0}
| 6
|
outdoor
|
|
12657584952502228282_3940_000_3960_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 beige sedan with headlights on.
| 0
| 19.8
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
A
|
Front
| 7
|
outdoor
|
12657584952502228282_3940_000_3960_000_camera_1.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the car with bright headlights between two frames?
|
Object description: A car with bright headlights.
| 13.2
| 17.5
|
{
"A": "42.63m",
"B": "40.40m",
"C": "35.96m",
"D": "43.18m",
"E": "38.17m"
}
|
B
|
40.43m
| 8
|
outdoor
|
12657584952502228282_3940_000_3960_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": "130.00m",
"B": "128.20m",
"C": "130.72m",
"D": "128.92m",
"E": "131.80m"
}
|
A
|
128.31m
| 9
|
outdoor
|
|
12820461091157089924_5202_916_5222_916_camera_3.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of the white truck with large white trailer?
|
Object description: White truck with large white trailer.
| 3
| 5.4
|
{
"A": "6.15m",
"B": "5.60m",
"C": "5.05m",
"D": "3.68m",
"E": "4.14m"
}
|
B
|
5.61m, 2.72m, 3.03m
| 0
|
outdoor
|
12820461091157089924_5202_916_5222_916_camera_3.mp4
|
Waymo
|
Dimensional Measurement
|
Single Choice
|
What is the most appropriate length of the red car in motion?
|
Object description: A red car in motion.
| 18
| 19.8
|
{
"A": "4.50m",
"B": "6.00m",
"C": "5.50m",
"D": "4.00m",
"E": "5.00m"
}
|
A
|
4.50m, 2.02m, 1.90m
| 1
|
outdoor
|
12820461091157089924_5202_916_5222_916_camera_3.mp4
|
Waymo
|
Ego-Centric Orientation
|
Single Choice
|
What was the most appropriate change in orientation of the camera from the start to the end of the video?
| 0
| 19.7
|
{
"A": "19°",
"B": "7°",
"C": "15°",
"D": "11°",
"E": "0°"
}
|
E
|
0.10°
| 2
|
outdoor
|
|
12820461091157089924_5202_916_5222_916_camera_3.mp4
|
Waymo
|
Trajectory Description
|
Single Choice
|
What is the most appropriate description of the camera's movement trajectory?
| 0
| 19.7
|
{
"A": "move forward 250m",
"B": "move forward 100m",
"C": "move forward 200m, then turn right 90°",
"D": "move forward 300m, then turn left 45°",
"E": "move forward 150m, then turn right 60°"
}
|
A
|
move forward 246.24m
| 3
|
outdoor
|
|
12820461091157089924_5202_916_5222_916_camera_3.mp4
|
Waymo
|
3D Video Grounding
|
Single Choice
|
What is the 3D central point coordinates in camera coordinates of the white SUV behind a wall at the frame where it first co-occurs with the white truck with a large white trailer?
|
Target object description: A white SUV behind a wall.; Condition object description: White truck with large white trailer.
| 3
| 3
|
{
"A": "[43.50, 22.60, -1.20]",
"B": "[45.50, 24.60, 1.20]",
"C": "[41.50, 20.60, -3.20]",
"D": "[53.50, 32.60, -11.20]",
"E": "[33.50, 12.60, 8.80]"
}
|
A
|
{"C_lwh": [5.03, 2.42, 1.99], "C_central_point": [43.51, 22.58, -1.19], "C_heading": 137.78}
| 4
|
outdoor
|
12820461091157089924_5202_916_5222_916_camera_3.mp4
|
Waymo
|
Pose Estimation
|
Single Choice
|
Given the initial pose: {"tx": 5688.18, "ty": 1361.76, "tz": -104.93, "r11": 0.74, "r12": 0.68, "r13": -0.02, "r21": -0.68, "r22": 0.73, "r23": -0.04, "r31": -0.02, "r32": 0.04, "r33": 1.0}, estimate and select the most likely camera pose in 3D space for the first second's frame using only the RGB video. (at 0s)
| 0
| 0
|
{
"A": "{\"tx\": 5678.0, \"ty\": 1370.1, \"tz\": -110.9, \"r11\": 0.75, \"r12\": 0.67, \"r13\": -0.01, \"r21\": -0.67, \"r22\": 0.75, \"r23\": -0.06, \"r31\": -0.01, \"r32\": 0.06, \"r33\": 1.0}",
"B": "{\"tx\": 5670.0, \"ty\": 1361.1, \"tz\": -104.9, \"r11\": 0.74, \"r12\": 0.68, \"r13\": -0.02, \"r21\": -0.68, \"r22\": 0.74, \"r23\": -0.05, \"r31\": -0.02, \"r32\": 0.05, \"r33\": 1.0}",
"C": "{\"tx\": 5665.0, \"ty\": 1360.1, \"tz\": -105.9, \"r11\": 0.74, \"r12\": 0.68, \"r13\": -0.02, \"r21\": -0.68, \"r22\": 0.74, \"r23\": -0.05, \"r31\": -0.02, \"r32\": 0.05, \"r33\": 1.0}",
"D": "{\"tx\": 5660.0, \"ty\": 1350.1, \"tz\": -100.9, \"r11\": 0.73, \"r12\": 0.69, \"r13\": -0.03, \"r21\": -0.69, \"r22\": 0.73, \"r23\": -0.03, \"r31\": -0.03, \"r32\": 0.03, \"r33\": 1.0}",
"E": "{\"tx\": 5690.0, \"ty\": 1380.1, \"tz\": -120.9, \"r11\": 0.76, \"r12\": 0.66, \"r13\": -0.04, \"r21\": -0.66, \"r22\": 0.76, \"r23\": -0.07, \"r31\": -0.04, \"r32\": 0.07, \"r33\": 1.0}"
}
|
B
|
{"tx": 5670.01, "ty": 1361.13, "tz": -104.95, "r11": 0.74, "r12": 0.68, "r13": -0.02, "r21": -0.68, "r22": 0.74, "r23": -0.05, "r31": -0.02, "r32": 0.05, "r33": 1.0}
| 5
|
outdoor
|
|
12820461091157089924_5202_916_5222_916_camera_3.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: White truck with large white trailer.
| 0
| 19.8
|
{
"A": "Front",
"B": "Front-Left",
"C": "Front-Right",
"D": "Left",
"E": "Right"
}
|
C
|
Front-Right
| 6
|
outdoor
|
12820461091157089924_5202_916_5222_916_camera_3.mp4
|
Waymo
|
Displacement & Path Length
|
Single Choice
|
What is the most likely displacement (straight-line distance) of the white truck with large white trailer between two frames?
|
Object description: White truck with large white trailer.
| 2.9
| 5.3
|
{
"A": "0.10m",
"B": "0.00m",
"C": "0.20m",
"D": "0.10m",
"E": "0.40m"
}
|
A
|
0.13m
| 7
|
outdoor
|
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