pretty_name: 2D and 3D Traffic Elements for nuScenes, NAVSIM, and SimScale
2D and 3D Traffic Elements for nuScenes, NAVSIM, and SimScale
This repository provides YOLO-format 2D Traffic Element labels and generated 3D Traffic Element center points for the nuScenes, NAVSIM, and SimScale datasets. It also includes the released YOLO checkpoint used for 2D Traffic Element detection.
Resources
| Resource | Repository path | Description |
|---|---|---|
| nuScenes Traffic Elements | nuscenes_traffic_elements.tar.gz |
2D labels and 3D center points for nuScenes |
| NAVSIM Traffic Elements | navsim_traffic_elements.tar.gz |
2D labels and 3D center points for NAVSIM |
| SimScale Traffic Elements | simscale_traffic_elements.tar.gz |
2D labels and 3D center points for SimScale |
| YOLO detector checkpoint | weights/yolo/best.pt |
Weights for 2D Traffic Element detection |
Related resources: Paper | Project Page | Code
Download
Download the complete release:
huggingface-cli download Zzz0918/Traffic_Elements \
--repo-type dataset \
--local-dir traffic_elements_release
The three dataset archives and YOLO checkpoint can also be downloaded individually from the links in the table above.
Dataset Extraction
Run the following commands from the root of the TE-Aware-E2E-AD repository:
tar -xzf traffic_elements_release/nuscenes_traffic_elements.tar.gz
tar -xzf traffic_elements_release/navsim_traffic_elements.tar.gz
tar -xzf traffic_elements_release/simscale_traffic_elements.tar.gz
The extracted files follow this structure:
data/
|-- nuscenes/
| |-- traffic_elements/
| | `-- <sample_token>.json
| `-- traffic_elements_2d/
| `-- labels/
| `-- <image_name>.txt
|-- navsim/
| |-- traffic_elements/
| | |-- trainval/
| | | `-- <log_name>/
| | | `-- <image_token>.json
| | `-- test/
| | `-- <log_name>/
| | `-- <image_token>.json
| `-- traffic_elements_2d/
| |-- trainval/
| | `-- <log_name>/
| | `-- labels/
| | `-- <image_token>.txt
| `-- test/
| `-- <log_name>/
| `-- labels/
| `-- <image_token>.txt
`-- simscale/
|-- traffic_elements/
| `-- <split>/
| `-- <scene_name>/
| `-- <image_token>.json
`-- traffic_elements_2d/
`-- <split>/
`-- <scene_name>/
`-- labels/
`-- <image_token>.txt
YOLO Detector Weights
The released detector checkpoint is stored at weights/yolo/best.pt. Copy it to the location expected by the inference scripts:
mkdir -p ultralytics/weights
cp traffic_elements_release/weights/yolo/best.pt ultralytics/weights/best.pt
Alternatively, download the checkpoint directly:
mkdir -p ultralytics/weights
curl -L "https://huggingface.co/datasets/Zzz0918/Traffic_Elements/resolve/main/weights/yolo/best.pt?download=true" \
-o ultralytics/weights/best.pt
The resulting code-repository path should be:
TE-Aware-E2E-AD/
`-- ultralytics/
`-- weights/
`-- best.pt
Please follow the licenses and terms of use of the original nuScenes, NAVSIM, and SimScale datasets.