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nuScenes by Motional
Large-scale open source dataset for autonomous driving.
For commercial use, please visit the nuScenes website directly.
- 6
- 12Hz capture frequency
- Evetar Lens N118B05518W F1.8 f5.5mm 1/1.8"
- 1/1.8" CMOS sensor of 1600x1200 resolution
- Bayer8 format for 1 byte per pixel encoding
- 1600x900 ROI is cropped from the original resolution to reduce processing and transmission bandwidth
- Auto exposure with exposure time limited to the maximum of 20 ms
- Images are unpacked to BGR format and compressed to JPEG
Cameras - 1
- 20Hz capture frequency
- 32 beams, 1080 (+-10) points per ring
- 32 channels
- 360° Horizontal FOV, +10° to -30° Vertical FOV, uniform azimuth angles
- 80m-100m Range, Usable returns up to 70 meters, ± 2 cm accuracy
- Up to ~1.39 Million Points per Second
Spinning LiDAR - 5
- 77GHz
- 13Hz capture frequency
- Independently measures distance and velocity in one cycle using Frequency Modulated Continuous Wave
- Up to 250m distance
- Velocity accuracy of ±0.1 km/h
Long Range RADAR Sensor
LiDAR extrinsics
Camera extrinsics
Camera intrinsic calibration
IMU extrinsics
Instances Per Label
493,322
vehicle.car
208,240
human.pedestrian.adult
152,087
movable_object.barrier
208,240
movable_object.trafficcone
88,519
vehicle.truck
24,860
vehicle.trailer
14,671
vehicle.construction
14,501
vehicle.bus.rigid
