The Toulouse Road Network dataset describes patches of road maps from the city of Toulouse, represented both as spatial graphs G = (A, X) and as grayscale segmentation images. The semantic segmentation of each patch is represented as a 64 × 64 grayscale image. The dataset is generated starting from publicly available data from OpenStreetMap.
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…To curate this collection, we sifted through thousands of hours of driving data from our fleet of self-driving test vehicles to find the most challenging segments.
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…The floorplans are annotated with room outline polygons, doors/windows as line segments, object-icons as axis-aligned bounding boxes, room-door-room connectivity graphs, and photo-room assignments.