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Dataset Setup

For this walkthrough we'll use these aliases

  • /media/datasets/ home for all the extracted datasets
  • /path/to/downloads/ where your raw downloads are stored

The final directory structure looks like

/media/datasets/
├─ nuscenes/
│  ├─ v1.0-trainval/
│  ├─ v1.0-mini/
│  ├─ samples/
│  ├─ sweeps/
│  └─ maps/
│     ├─ basemap/
│     └─ expansion/
└─ cvt_labels_nuscenes/
   ├─ scene-0001/
   ├─ scene-0001.json
   ├─ ...
   ├─ scene-1000/
   └─ scene-1000.json

If you find any broken links, please create a Github issue or email [email protected]

Map-View Labels (1 GB)

Download the labels we generated for our experiments

Extract the labels via

tar -xvf /path/to/downloads/cvt_labels_nuscenes.tar.gz -C /media/datasets

nuScenes Data (60 GB)

Get the following files from nuScenes.
If you want to download from the command line via curl or wget, see this Github issue.

# Required: raw image frames
v1.0-trainval01_keyframes.tgz
v1.0-trainval02_keyframes.tgz
...
v1.0-trainval10_keyframes.tgz

# Required: metadata
v1.0-mini.tgz
v1.0-trainval_meta.tgz

# Optional: for generating map labels
nuScenes-map-expansion-v1.3.zip

This project only requires annotated keyframes, so remember to get those and save yourself some time/disk.

After the downloads (~50 gb in total) are finished, the last step is to untar/unzip the raw files.

mkdir /media/datasets/nuscenes/

# Untar all the keyframes and metadata
for f in $(ls /path/to/downloads/v1.0-*.tgz); do tar -xzf $f -C /media/datasets/nuscenes; done

# Map expansion must go into the maps folder
unzip /path/to/downloads/nuScenes-map-expansion-v1.3.zip -d /media/datasets/nuscenes/maps