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nuScenes: A multimodal dataset for autonomous driving

May 05, 2020 Publications

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.

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