Open Datasets

Dataset	Data Provided	Annotation	Diversity	Traffic
A2D2 (2019) by Audi Electronics Venture Germany	LiDAR, Video, Vehicle Data	Bounding Box	Season	Urban
Apollo Open Platform (2018) by Baidu Inc China	Video, LiDAR, Vehicle Data	Bounding Box	Weather	Urban, Highway, Rural
ApolloScape (2018) by Baidu Inc China	Video	Semantic Label, Lane Marking	Illumination, Weather	Urban, Highway, Rural
Argo (2019) by Argo United States	Vehicle Data, LiDAR, Video, Image	Bounding Box, Optical Flow, Behavioral Label, Semantic Label, Lane Marking	Season, Weather, Night	Urban
Belgium Traffic Sign (2011) by ETH Zurich Belgium	Image	Bounding Box		Urban
Berkeley DeepDrive (2017) by UC Berkeley San Francisco Bay Area, New York, USA	Video, Image, GPS, Codes	Bounding Box, Semantic Label, Lane Marking	Weather, Night, Illumination	Urban, Rural, Highway
Bosch Small Traffic Lights (2017) by Bosch North America Research San Francisco Bay Area, USA	Video	Bounding Box	Weather, Illumination	Urban, Rural
Brain4Cars (2016) by Cornell Univ. United States	Video, GPS, Vehicle Data, Codes	Behavioral Label	Illumination	Urban, Highway
Caltech Pedestrian (2009) by California Inst. of Tech. Los Angeles, USA	Video, Codes	Bounding Box		Urban
CamVid (2009) by Univ. of Cambridge Cambridge, UK	Video, Image, Codes	Semantic Label		Urban
CityScapes (2016) by Daimler AG,MPI-IS,TU Darmstadt Germany, Switzerland, France	Video, Image, GPS, Vehicle Data, Codes	Semantic Label	Season	Urban
CMU (2011) by Carnegie Mellon Univ Pittsburgh, USA	Video, LiDAR, GPS		Weather, Season, Illumination	Urban
Comma.ai (2016) by comma.ai San Francisco, USA	Video, GPS, Vehicle Data, Codes		Night	Highway
CULane (2018) by Chinese Univ. of Hong Kong Beijing, China	Image, Codes	Lane Marking	Night, Illumination	Urban, Rural, Highway
Daimler Pedestrian (2006) by Daimler AG R&D,Univ. of Amsterdam Beijing, China	Video, Image	Bounding Box, Semantic Label		Urban
DAVIS (2017) by Univ. of Zurich,ETH ¨ Zurich Germany, Switzerland	Video, GPS, Vehicle Data, Codes		Weather, Night, Illumination	Urban, Rural, Highway
DBNet (2018) by Shanghai Jiao Tong Univ.,Xiamen Univ. China	Video, LiDAR, Vehicle Data			Urban, Rural, Highway
DIPLECS (2015) by Univ. of Surrey Surrey, UK, Stockholm, Sweden	Video, Vehicle Data	Behavioral Label		Urban, Rural, Highway
Dr(eye)ve (2016) by Univ. of Modena and Reggio Emilia Modena, Italy	Video, Vehicle Data	Behavioral Label	Weather, Night	Urban, Rural, Highway
EISATS (2010) by Univ. of Auckland Germany, New Zealand	Video, LiDAR	Behavioral Label	Weather, Night, Illumination	Urban, Rural, Highway
Elektra (2016) by Autonomous Univ. of Barcelona, Polytechnic Univ. of Catalonia Barcelona, Spain	Video, Infrared	Bounding Box	Night	Urban
ETH Pedestrian (2009) by ETH Zurich Zurich, Switzerland	Video	Bounding Box		Urban
Ford (2009) by Univ. of Michigan Michigan, US	Video, LiDAR, GPS, Codes	Bounding Box
German Traffic Sign (2012) by Ruhr Univ. Bochum Germany	Image	Bounding Box
HCI Challenging Stereo (2012) by Heidelberg (HCI),Bosch Corporation Research Hildesheim, Germany	Video		Weather, Night, Illumination	Urban
HD1K (2018) by Heidelberg (HCI),Robert Bosch GmbH Heidelberg, Germany	Video	Optical Flow	Weather, Night, Illumination	Urban
Highway Workzones (2015) by Carnegie Mellon Univ. United States	Video	Bounding Box	Weather, Season, Illumination	Highway
JAAD (2016) by York University Ukraine, Canada	Video	Bounding Box, Behavioral Label	Weather, Night	Urban
KAIST Multi-Spectral (2015) by KAIST South Korea	Video, LiDAR, GPS, Thermal	Bounding Box	Night, Illumination	Urban
KAIST Urban (2018) by KAIST South Korea	Video, LiDAR, GPS, Codes			Urban
KITTI (2011) by Karlsruhe Inst of Technology,Toyota Technological Inst Karlsruhe, Germany	Video, Image, LiDAR, GPS, Codes	Bounding Box, Semantic Label, Lane Marking	Illumination	Urban, Highway, Rural
LISA Traffic Sign (2012) by Univ. of California, San Diego United States	Image, Codes	Bounding Box
LostAndFound (2016) by Daimler AG Germany	Image, Vehicle Data	Semantic Label		Urban
Malaga (2014) by Univ. of Malaga Malaga, Spain	Video, LiDAR, GPS, Codes			Urban
Mapillary Vistas (2017) by Mapillary AB Global	Image	Semantic Label	Weather, Season, Night, Illumination	Urban, Rural
Multi-Cue Onboard Pedestrian Detection (2009) by Max Planck Inst for Informatics Belgium	Video	Bounding Box		Urban
NEXET (2017) by Nexar Global	Image, Vehicle Data	Bounding Box	Weather, Season, Night, Illumination	Urban, Rural, Highway
nuScenes (2018) by Aptiv,Scale,nuTonomy Inc Boston, USA, Singapore	Video, Image, LiDAR, GPS, Codes	Bounding Box, Behavioral Label	Illumination, Weather	Urban
Oxford RobotCar (2015) by Oxford Univ. Central Oxford, UK	Video, LiDAR, GPS, Vehicle Data, Codes		Weather, Season, Illumination	Urban
PandaSet (2019) by HESAI,Scale San Francisco, United States	Image, LiDAR	Bounding Box, Semantic Label	Illumination	Urban
Road Damage (2018) by Univ. of Tokyo Japan	Image, Codes	Bounding Box	Weather	Urban
Semantic KITTI (2019) by University of Bonn Karlsruhe, Germany	Video, Image, LiDAR, GPS, Codes	Bounding Box, Semantic Label, Lane Marking	Illumination	Urban, Highway, Rural
Stanford Track (2010) by Stanford Univ. United States	LiDAR, GPS, Codes	Stixel		Urban
Stixel (2013) by Daimler AG Germany	Video, Vehicle Data	Stixel	Weather	Highway
The Boxy Dataset (2019) by Bosch United States	Video, Image	Bounding Box	Weather, Night	Urban, Highway
TME Motorway (2011) by Czech Technical Univ. Northern Italy	Video, Codes	Bounding Box	Illumination	Highway
TuSimple (2017) by TuSimple Unknown	Video, Image, Codes	Bounding Box, Lane Marking	Weather	Highway
UAH (2016) by University of Alcala Madrid, Spain	Video, GPS, Vehicle Data, Codes	Behavioral Label		Highway
Udacity (2016) by Udacity Mountain View, USA	Video, LiDAR, GPS, Vehicle Data, Codes	Bounding Box	Illumination	Urban
Unsupervised Llamas (2019) by Bosch United States	LiDAR	Lane Marking		Highway

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