nuScenes/KITTI / Lyft

nuScenes

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• 6x camera (Basler acA1600-60gc):
  • 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

KITTI

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• 2 Grayscale cameras, 1.4 Megapixels: Point Grey Flea 2 (FL2-14S3M-C)

• 2 Color cameras, 1.4 Megapixels: Point Grey Flea 2 (FL2-14S3C-C)

Lyft

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• Dataset camera images are 1920x1280, which is equivalent to Ultra HD resolution and a horizontal field of view (HFOV) of +-25.2 degree.
• 2D bounding box labels in the camera images.
• The camera labels are tight-fitting, axis-aligned 2D bounding boxes with globally unique tracking IDs.
• The bounding boxes cover only the visible parts of the objects.
• The following objects have 2D labels: vehicles, pedestrians, cyclists.
• Waymo do not provide object track correspondences across cameras.
• Trains and trams are not considered vehicles and are not labeled. Motorcycles and motorcyclists are labeled as vehicles.