This repo is all you need for Open-sourced Data Ecosystem in Autonomous Driving.
We present comprehensive paper collections, leaderboards, and challenges.
- Open-sourced Data Ecosystem in Autonomous Driving: the Present and Future
If you find this project useful in your research, please consider to cite:
@misc{li2023opensourced,
title={Open-sourced Data Ecosystem in Autonomous Driving: the Present and Future},
author={Hongyang Li and Yang Li and Huijie Wang and Jia Zeng and Pinlong Cai and Huilin Xu and Dahua Lin and Junchi Yan and Feng Xu and Lu Xiong and Jingdong Wang and Futang Zhu and Kai Yan and Chunjing Xu and Tiancai Wang and Beipeng Mu and Shaoqing Ren and Zhihui Peng and Yu Qiao},
year={2023},
eprint={2312.03408},
archivePrefix={arXiv},
primaryClass={cs.CV}
}| Title | Host | Year | Task | Entry |
|---|---|---|---|---|
| Autonomous Driving Challenge | OpenDriveLab | CVPR2023 | Perception / OpenLane Topology | 111 |
| Perception / Online HD Map Construction | ||||
| Perception / 3D Occupancy Prediction | ||||
| Prediction & Planning / nuPlan Planning | ||||
| Waymo Open Dataset Challenges | Waymo | CVPR2023 | Perception / 2D Video Panoptic Segmentation | 35 |
| Perception / Pose Estimation | ||||
| Prediction / Motion Prediction | ||||
| Prediction / Sim Agents | ||||
| CVPR2022 | Prediction / Motion Prediction | 128 | ||
| Prediction / Occupancy and Flow Prediction | ||||
| Perception / 3D Semantic Segmentation | ||||
| Perception / 3D Camera-only Detection | ||||
| CVPR2021 | Prediction / Motion Prediction | 115 | ||
| Prediction / Interaction Prediction | ||||
| Perception / Real-time 3D Detection | ||||
| Perception / Real-time 2D Detection | ||||
| Argoverse Challenges | Argoverse | CVPR2023 | Prediction / Multi-agent Forecasting | 81 |
| Perception & Prediction / Unified Sensorbased Detection, Tracking, and Forecasting | ||||
| Perception / LiDAR Scene Flow | ||||
| Prediction / 3D Occupancy Forecasting | ||||
| CVPR2022 | Perception / 3D Object Detection | 81 | ||
| Prediction / Motion Forecasting | ||||
| Perception / Stereo Depth Estimation | ||||
| CVPR2021 | Perception / Stereo Depth Estimation | 368 | ||
| Prediction / Motion Forecasting | ||||
| Perception / Streaming 2D Detection | ||||
| CARLA Autonomous Driving Challenge | CARLA Team, Intel | 2023 | Planning / CARLA AD Challenge 2.0 | - |
| NeurIPS2022 | Planning / CARLA AD Challenge 1.0 | 19 | ||
| NeurIPS2021 | Planning / CARLA AD Challenge 1.0 | - | ||
| 粤港澳大湾区 （黄埔）国际算法算例大赛 | 琶洲实验室 | 2023 | 感知 / 跨场景单目深度估计 | - |
| 感知 / 路侧毫米波雷达标定和目标跟踪 | - | |||
| 2022 | 感知 / 路侧三维感知算法 | - | ||
| 感知 / 街景图像店面招牌文字识别 | - | |||
| AI Driving Olympics | ETH Zurich, University of Montreal,Motional | NeurIP2021 | Perception / nuScenes Panoptic | 11 |
| ICRA2021 | Perception / nuScenes Detection | 456 | ||
| Perception / nuScenes Tracking | ||||
| Prediction / nuScenes Prediction | ||||
| Perception / nuScenes LiDAR Segmentation | ||||
| 计图 (Jittor)人工智能算法挑战赛 | 国家自然科学基金委信息科学部 | 2021 | 感知 / 交通标志检测 | 37 |
| KITTI Vision Benchmark Suite | University of Tübingen | 2012 | Perception / Stereo, Flow, Scene Flow, Depth, Odometry, Object, Tracking, Road, Semantics | 5,610 |
| Dataset | Year | Diversity | Sensor | Annotation | Paper | ||||
|---|---|---|---|---|---|---|---|---|---|
| Scenes | Hours | Region | Camera | Lidar | Other | ||||
| KITTI | 2012 | 50 | 6 | EU | Font-view | ✗ | GPS & IMU | 2D BBox & 3D BBox | Link |
| Cityscapes | 2016 | - | - | EU | Font-view | ✗ | 2D Seg | Link | |
| Lost and Found | 2016 | 112 | - | - | Font-view | ✗ | 2D Seg | Link | |
| Mapillary | 2016 | - | - | Global | Street-view | ✗ | 2D Seg | Link | |
| DDD17 | 2017 | 36 | 12 | EU | Front-view | ✗ | GPS & CAN-bus & Event Camera | - | Link |
| Apolloscape | 2016 | 103 | 2.5 | AS | Front-view | ✗ | GPS & IMU | 3D BBox & 2D Seg | Link |
| BDD-X | 2018 | 6984 | 77 | NA | Front-view | ✗ | Language | Link | |
| HDD | 2018 | - | 104 | NA | Front-view | ✓ | GPS & IMU & CAN-bus | 2D BBox | Link |
| IDD | 2018 | 182 | - | AS | Front-view | ✗ | 2D Seg | Link | |
| SemanticKITTI | 2019 | 50 | 6 | EU | ✗ | ✓ | 3D Seg | Link | |
| Woodscape | 2019 | - | - | Global | 360° | ✓ | GPS & IMU & CAN-bus | 3D BBox & 2D Seg | Link |
| DrivingStereo | 2019 | 42 | - | AS | Front-view | ✓ | - | Link | |
| Brno-Urban | 2019 | 67 | 10 | EU | Front-view | ✓ | GPS & IMU & Infrared Camera | - | Link |
| A*3D | 2019 | - | 55 | AS | Front-view | ✓ | 3D BBox | Link | |
| Talk2Car | 2019 | 850 | 283.3 | NA | Front-view | ✓ | Language & 3D BBox | Link | |
| Talk2Nav | 2019 | 10714 | - | Sim | 360° | ✗ | Language | Link | |
| PIE | 2019 | - | 6 | NA | Front-view | ✗ | 2D BBox | Link | |
| UrbanLoco | 2019 | 13 | - | AS & NA | 360° | ✓ | IMU | - | Link |
| TITAN | 2019 | 700 | - | AS | Front-view | ✗ | 2D BBox | Link | |
| H3D | 2019 | 160 | 0.77 | NA | Front-view | ✓ | GPS & IMU | - | Link |
| A2D2 | 2020 | - | 5.6 | EU | 360° | ✓ | GPS & IMU & CAN-bus | 3D BBox & 2D Seg | Link |
| CARRADA | 2020 | 30 | 0.3 | NA | Front-view | ✗ | Radar | 3D BBox | Link |
| DAWN | 2019 | - | - | Global | Front-view | ✗ | 2D BBox | Link | |
| 4Seasons | 2019 | - | - | - | Front-view | ✗ | GPS & IMU | - | Link |
| UNDD | 2019 | - | - | - | Front-view | ✗ | 2D Seg | Link | |
| SemanticPOSS | 2020 | - | - | AS | ✗ | ✓ | GPS & IMU | 3D Seg | Link |
| Toronto-3D | 2020 | 4 | - | NA | ✗ | ✓ | 3D Seg | Link | |
| ROAD | 2021 | 22 | - | EU | Front-view | ✗ | 2D BBox & Topology | Link | |
| Reasonable Crowd | 2021 | - | - | Sim | Front-view | ✗ | Language | Link | |
| METEOR | 2021 | 1250 | 20.9 | AS | Front-view | ✗ | GPS | Language | Link |
| PandaSet | 2021 | 179 | - | NA | 360° | ✓ | GPS & IMU | 3D BBox | Link |
| MUAD | 2022 | - | - | Sim | 360° | ✓ | 2D Seg& 2D BBox | Link | |
| TAS-NIR | 2022 | - | - | - | Front-view | ✗ | Infrared Camera | 2D Seg | Link |
| LiDAR-CS | 2022 | 6 | - | Sim | ✗ | ✓ | 3D BBox | Link | |
| WildDash | 2022 | - | - | - | Front-view | ✗ | 2D Seg | Link | |
| OpenScene | 2023 | 1000 | 5.5 | AS & NA | 360° | ✗ | 3D Occ | Link | |
| ZOD | 2023 | 1473 | 8.2 | EU | 360° | ✓ | GPS & IMU & CAN-bus | 3D BBox & 2D Seg | Link |
| nuScenes | 2019 | 1000 | 5.5 | AS & NA | 360° | ✓ | GPS & CAN-bus & Radar & HDMap | 3D BBox & 3D Seg | Link |
| Argoverse V1 | 2019 | 324k | 320 | NA | 360° | ✓ | HDMap | 3D BBox & 3D Seg | Link |
| Waymo | 2019 | 1000 | 6.4 | NA | 360° | ✓ | 2D BBox & 3D BBox | Link | |
| KITTI-360 | 2020 | 366 | 2.5 | EU | 360° | ✓ | 3D BBox & 3D Seg | Link | |
| ONCE | 2021 | - | 144 | AS | 360° | ✓ | 3D BBox | Link | |
| nuPlan | 2021 | - | 120 | AS & NA | 360° | ✓ | 3D BBox | Link | |
| Argoverse V2 | 2022 | 1000 | 4 | NA | 360° | ✓ | HDMap | 3D BBox | Link |
| DriveLM | 2023 | 1000 | 5.5 | AS & NA | 360° | ✗ | Language | Link | |
| Dataset | Year | Diversity | Sensor | Annotation | Paper | |||||
|---|---|---|---|---|---|---|---|---|---|---|
| Scenes | Frames | Camera | Lidar | Type | Space | Inst. | Track | |||
| Caltech Lanes | 2008 | 4 | 1224/1224 | ✗ | PV | ✓ | ✗ | Link | ||
| VPG | 2017 | - | 20K/20K | ✗ | PV | ✗ | - | Link | ||
| TUsimple | 2017 | 6.4K | 6.4K/128K | ✗ | PV | ✓ | ✗ | Link | ||
| CULane | 2018 | - | 133K/133K | ✗ | PV | ✓ | - | Link | ||
| ApolloScape | 2018 | 235 | 115K/115K | ✓ | PV | ✗ | ✗ | Link | ||
| LLAMAS | 2019 | 14 | 79K/100K | Front-view Image | ✗ | Laneline | PV | ✓ | ✗ | Link |
| 3D Synthetic | 2020 | - | 10K/10K | ✗ | PV | ✓ | - | Link | ||
| CurveLanes | 2020 | - | 150K/150K | ✗ | PV | ✓ | - | Link | ||
| VIL-100 | 2021 | 100 | 10K/10K | ✗ | PV | ✓ | ✗ | Link | ||
| OpenLane-V1 | 2022 | 1K | 200K/200K | ✗ | 3D | ✓ | ✓ | Link | ||
| ONCE-3DLane | 2022 | - | 211K/211K | ✗ | 3D | ✓ | - | Link | ||
| OpenLane-V2 | 2023 | 2K | 72K/72K | Multi-view Image | ✗ | Lane Centerline, Lane Segment | 3D | ✓ | ✓ | Link |
| Subtask | Input | Output | Evaluation | Dataset |
|---|---|---|---|---|
| Motion Prediction | Surrounding Traffic States | Spatiotemporal Trajectories of Single/Multiple Vehicle(s) | Displacement Error | Argoverse |
| nuScenes | ||||
| Waymo | ||||
| Interaction | ||||
| MONA | ||||
| Trajectory Planning | Motion States for Ego Vehicles, Scenario Cognition and Prediction | Trajectories for Ego Vehicles | Displacement Error, Safety, Compliance, Comfort | nuPlan |
| CARLA | ||||
| MetaDrive | ||||
| Apollo | ||||
| Path Planning | Maps for Road Network | Routes Connecting to Nodes and Links | Efficiency, Energy Conservation | OpenStreetMap |
| Transportation Networks | ||||
| DTAlite | ||||
| PeMS | ||||
| New York City Taxi Data |
Open-sourced Data Ecosystem in Autonomous Driving is released under the MIT license.