DeepRoute Open Dataset
3D Box
Autonomous Driving
|...
许可协议: Custom

Overview

DeepRoute Open Dataset is a dataset for the training of level 4 self-driving algorithms. It contains real-world testing scenarios on complex urban roads in Shenzhen, Wuhan, and Hangzhou. We share data to enhance the connection between the research community and the industry, thus accelerating the development and application of self-driving technology.

Data Collection

Data are collected from public urban roads in three different cities in China, which are Shenzhen, Wuhan, and Hangzhou. Currently, the data are LiDAR point clouds collected by three LiDARs which are set on the top and sides of the testing vehicle.

Data Preview

Label Distribution

Data Annotation

The data released were randomly selected from 10,000 frames of road testing data from three cities. Using the joint annotation with images, the obstacles were annotated by precise 3D bounding boxes. We annotated eight types of obstacles. In each type of the obstacles, we have information including the object type, location of the bounding box's center, dimension of the bounding box, and rotation angle of object's heading.

Please note that when one obstacle is partially observed, the markers are asked to try to restore the full size of obstacles through imagination or sequence and image information, so the real size of the objects can be reflected.

Data Format

There are N*4 floating-point data representing N points in each frame of point cloud data. Each point has the x, y, z (Cartesian coordinates), and normalized intensity data. Each frame of point cloud corresponds to an annotation JSON file. The annotation JSON file contains a list of obstacles, such as:

    "objects": [
        {
            "type": "CYCLIST",
            "bounding_box": {
                "width": 1.100000023841858,
                "length": 2,
                "height": 1.7999999523162842
            },
            "position": {
                "y": -22.889999389648438,
                "x": 7.059999942779541,
                "z": -0.75
            },
            "heading": 5.98647928237915,
            "id": 10
        },
        ...
    ]

Instruction

1. Load the point cloud data

def load_pointcloud(pc_file):
    pc = numpy.fromfile(pc_file, dtype=np.float32)
    return pc.reshape(-1, 4)

2. Load the Groundtruth data

def load_groundtruth(gt_file):
 with open(label_file, "r") as hd:
     objects = json.load(hd)
 return objects["objects"]

Citation

@misc{
Author  = {DeepRoute.ai},
Title = {The DeepRoute Open Dataset for Autonomous Driving},
Year = {2021},
}

License

Permissions

  • Modification The licensed material may be modified.
  • Private Use The licensed material may be used and modified in private.

Limitations

  • Liability This license includes a limitation of liability.
  • Trademark use This License explicitly states that it does NOT grant trademark rights, even though licenses without such a statement probably do not grant any implicit trademark rights.
  • Patent use This license does not provide an express grant of patent rights from contributors.
  • Warranty This license explicitly states that it does NOT provide any warranty.
  • Distribution The licensed material can NOT be distributed.

Conditions

  • License and copyright notice A copy of the license and copyright notice must be included with the licensed material.
  • State changes Changes made to the licensed material must be documented.
  • Same License Modifications must be released under the same license when distributing the licensed material. In same cases a similar or related license may be used.
数据概要
数据格式
Point Cloud,
数据量
10K
文件大小
12.94GB
发布方
DEEPROUTE.Ai
Founded in 2019, DeepRoute is a global level 4 self-driving solution provider to OEMs, Tier 1 suppliers, and ride-hailing and logistics companies. With presence in China (Shenzhen & Beijing) and the U.S. (Silicon Valley), DeepRoute has attracted graduates from prestigious colleges in the world, such as Columbia University, Carnegie Mellon University, and University of Cambridge, as well as experienced engineers from giant tech companies like Google, Microsoft, and Intel. Notably, DeepRoute's R&D personnel account for 80% of its entire staff, covering the whole R&D chain of self-driving technology, namely, Hardware, Perception, Planning & Control, HD Mapping & Localization, Infrastructure, Operations, and Cloud Platform.
标注方
DEEPROUTE.Ai
Founded in 2019, DeepRoute is a global level 4 self-driving solution provider to OEMs, Tier 1 suppliers, and ride-hailing and logistics companies. With presence in China (Shenzhen & Beijing) and the U.S. (Silicon Valley), DeepRoute has attracted graduates from prestigious colleges in the world, such as Columbia University, Carnegie Mellon University, and University of Cambridge, as well as experienced engineers from giant tech companies like Google, Microsoft, and Intel. Notably, DeepRoute's R&D personnel account for 80% of its entire staff, covering the whole R&D chain of self-driving technology, namely, Hardware, Perception, Planning & Control, HD Mapping & Localization, Infrastructure, Operations, and Cloud Platform.
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