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DATASET.md

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📖 Dataset

  • Go to the official website of the NuScenes dataset. You will need to create an account.
  • Download the Full dataset (v1.0). This includes the Mini dataset (Metadata and sensor file blobs) and the Trainval dataset (Metadata, File blobs part 1-10).
  • Extract the tar files in order to obtain the following folder structure. The nuscenes dataset folder will be designated as ${NUSCENES_DATAROOT}.
nuscenes  
│
└───trainval
│     maps
│     samples
│     sweeps
│     v1.0-trainval
│   
└───mini
      maps
      samples
      sweeps
      v1.0-mini
  • The full dataset is around ~400GB. It is possible to reduce the dataset size to ~60GB by only downloading the keyframe blobs only part 1-10, instead of all the file blobs part 1-10. The keyframe blobs contain the data we need (RGB images and 3D bounding box of dynamic objects at 2Hz). The remaining file blobs also include RGB images and LiDAR sweeps at a higher frequency, but they are not used during training.