Authors: Holger Caesar, Varun Bankiti, Alex H. Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, Oscar Beijbom
Published: May 5, 2020
Summary: In this paper we present nuScenes, the first dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view. The paper also defines novel 3D detection and tracking metrics, provides careful dataset analysis, and baselines for lidar and image-based detection and tracking.
