The nuScenes dataset is a large-scale autonomous driving dataset. The dataset has 3D bounding boxes for 1000 scenes collected in Boston and Singapore. Each scene is 20 seconds long and annotated at 2Hz. This results in a total of 28130 samples for training, 6019 samples for validation and 6008 samples for testing. The dataset has the full autonomous vehicle data suite: 32-beam LiDAR, 6 cameras and radars with complete 360° coverage. The 3D object detection challenge evaluates the performance on 10 classes: cars, trucks, buses, trailers, construction vehicles, pedestrians, motorcycles, bicycles, traffic cones and barriers.
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SemanticKITTI is a large-scale outdoor-scene dataset for point cloud semantic segmentation. It is derived from the KITTI Vision Odometry Benchmark which it extends with dense point-wise annotations for the complete 360 field-of-view of the employed automotive LiDAR. The dataset consists of 22 sequences. Overall, the dataset provides 23201 point clouds for training and 20351 for testing.
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The SemanticPOSS dataset for 3D semantic segmentation contains 2988 various and complicated LiDAR scans with large quantity of dynamic instances. The data is collected in Peking University and uses the same data format as SemanticKITTI.
57 PAPERS • 2 BENCHMARKS
CheXlocalize is a radiologist-annotated segmentation dataset on chest X-rays. The dataset consists of two types of radiologist annotations for the localization of 10 pathologies: pixel-level segmentations and most-representative points. Annotations were drawn on images from the CheXpert validation and test sets. The dataset also consists of two separate sets of radiologist annotations: (1) ground-truth pixel-level segmentations on the validation and test sets, drawn by two board-certified radiologists, and (2) benchmark pixel-level segmentations and most-representative points on the test set, drawn by a separate group of three board-certified radiologists.
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