nuScenes devkit

Welcome to the devkit of the nuScenes dataset.

Overview

• Changelog
• • Dataset download
• • Map expansion
• • Devkit setup
• • Getting started
• • Citation

• Changelog

• • Nov. 1, 2019: Tracking eval code released and detection eval code reorganized.
• • Jul. 1, 2019: Map expansion pack released.
• • Apr. 30, 2019: Devkit v1.0.1: loosen PIP requirements, refine detection challenge, export 2d annotation script.
• • Mar. 26, 2019: Full dataset, paper, & devkit v1.0.0 released. Support dropped for teaser data.
• • Dec. 20, 2018: Initial evaluation code released. Devkit folders restructured, which breaks backward compatibility.
• • Nov. 21, 2018: RADAR filtering and multi sweep aggregation.
• • Oct. 4, 2018: Code to parse RADAR data released.
• • Sep. 12, 2018: Devkit for teaser dataset released.

• Dataset download

• To download nuScenes you need to go to the Download page,
• create an account and agree to the nuScenes Terms of Use.
• After logging in you will see multiple archives.
• For the devkit to work you will need to download all archives.
• Please unpack the archives to the /data/sets/nuscenes folder *without* overwriting folders that occur in multiple archives.
• Eventually you should have the following folder structure:
• /data/sets/nuscenes

• samples-   Sensor data for keyframes.keyframes
  

•     sweeps-   Sensor data for intermediate frames.
  

•         maps-   Folder forr all map files: rasterized .png images and vectorized .json files.
  

•             v1.0-*-   JSON tables that include all the meta data and annotations. Each split (Trackinginval, test, mini) is provided in a separate folder.
  

•             ```
  

•             If you want to use another folder, specify the `dataroot` parameter of the NuScenes class (see tutorial).
  

•             ## Map expansion
  

•             In July 2019 we published a map expansion pack with 11 semantic layers (crosswalk, sidewalk, traffic lights, stop lines, lanes, etc.).
  

•             To install this expansion, please follow these steps:
  

•             - Download the expansion pack from the [Download page](https://www.nuscenes.org/download),
  

•             - Move the four .json files to your nuScenes maps folder (e.g. `/data/sets/nuscenes/maps`).
  

•             - Get the latest version of the nuscenes-devkit.
  

•             - If you already have a previous version of the devkit, update the pip requirements (see [details](https://github.com/nutonomy/nuscenes-devkit/blob/master/setup/installation.md)): `pip install -r setup/requirements.txt`
  

•             ## Devkit setup
  

•             The devkit is tested for Python 3.6 and Python 3.7.
  

•             To install Python, please check [here](https://github.com/nutonomy/nuscenes-devkit/blob/master/setup/installation.md#install-python).
  

•             Our devkit is available and can be installed via [pip](https://pip.pypa.io/en/stable/installing/) :
  

•             ```
  

•             pip install nuscenes-devkit
  

•             ```
  

•             For an advanced installation, see [installation](https://github.com/nutonomy/nuscenes-devkit/blob/master/setup/installation.md) for detailed instructions.
  

•             ## Getting started
  

•             Please follow these steps to make yourself familiar with the nuScenes dataset:
  

•             - Read the [dataset description](https://www.nuscenes.org/overview).
  

•             - [Explore](https://www.nuscenes.org/explore/scene-0011/0) the lidar viewer and videos.
  

•             - [Download](https://www.nuscenes.org/download) the dataset. 
  

•             - Get the [nuscenes-devkit code](https://github.com/nutonomy/nuscenes-devkit).
  

•             - Read the [online tutorial](https://www.nuscenes.org/tutorial) or run it yourself using:
  

•             ```
  

•             jupyter notebook $HOME/nuscenes-devkit/python-sdk/tutorial.ipynb
  

•             ```
  

•             - Read the [nuScenes paper](https://www.nuscenes.org/publications) for a detailed analysis of the dataset.
  

•             - Run the [map expansion tutorial](https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/map_expansion/map_demo.ipynb).
  

•             - Take a look at the [experimental scripts](https://github.com/nutonomy/nuscenes-devkit/tree/master/python-sdk/nuscenes/scripts).
  

•             - For instructions related to the object detection task (results format, classes and evaluation metrics), please refer to [this readme](https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/eval/detection/README.md).
  

•             - See the [database schema](https://github.com/nutonomy/nuscenes-devkit/blob/master/schema.md) and [annotator instructions](https://github.com/nutonomy/nuscenes-devkit/blob/master/instructions.md).
  

•             - See the [FAQs](https://github.com/nutonomy/nuscenes-devkit/blob/master/faqs.md).
  

•             ## Citation
  

•             Please use the following citation when referencing [nuScenes](https://arxiv.org/abs/1903.11027):
  

•             ```
  

•             @article{nuscenes2019,
  

•               title={nuScenes: A multimodal dataset for autonomous driving},
  

•                 author={Holger Caesar and Varun Bankiti and Alex H. Lang and Sourabh Vora and 
  

•                           Venice Erin Liong and Qiang Xu and Anush Krishnan and Yu Pan and 
  

•                                     Giancarlo Baldan and Oscar Beijbom},
  

•                                       journal={arXiv preprint arXiv:1903.11027},
  

•                                         year={2019}
  

•                                         }
  

•                                         ```
  

•                                         ![](https://www.nuscenes.org/public/images/nuscenes-example.png)