The apolloscape dataset for autonomous driving

Xinyu Huang, Xinjing Cheng, Qichuan Geng, Binbin Cao, Dingfu Zhou, Peng Wang, Yuanqing Lin, Ruigang Yang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

288 Scopus citations

Abstract

Scene parsing aims to assign a class (semantic) label for each pixel in an image. It is a comprehensive analysis of an image. Given the rise of autonomous driving, pixel-accurate environmental perception is expected to be a key enabling technical piece. However, providing a large scale dataset for the design and evaluation of scene parsing algorithms, in particular for outdoor scenes, has been difficult. The per-pixel labelling process is prohibitively expensive, limiting the scale of existing ones. In this paper, we present a large-scale open dataset, ApolloScape, that consists of RGB videos and corresponding dense 3D point clouds. Comparing with existing datasets, our dataset has the following unique properties. The first is its scale, our initial release contains over 140K images-each with its per-pixel semantic mask, up to 1M is scheduled. The second is its complexity. Captured in various traffic conditions, the number of moving objects averages from tens to over one hundred (Figure 1). And the third is the 3D attribute, each image is tagged with high-accuracy pose information at cm accuracy and the static background point cloud has mm relative accuracy. We are able to label these many images by an interactive and efficient labelling pipeline that utilizes the high-quality 3D point cloud. Moreover, our dataset also contains different lane markings based on the lane colors and styles. We expect our new dataset can deeply benefit various autonomous driving related applications that include but not limited to 2D/3D scene understanding, localization, transfer learning, and driving simulation.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2018
Pages1067-1073
Number of pages7
ISBN (Electronic)9781538661000
DOIs
StatePublished - Dec 13 2018
Event31st Meeting of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2018 - Salt Lake City, United States
Duration: Jun 18 2018Jun 22 2018

Publication series

NameIEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
Volume2018-June
ISSN (Print)2160-7508
ISSN (Electronic)2160-7516

Conference

Conference31st Meeting of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2018
Country/TerritoryUnited States
CitySalt Lake City
Period6/18/186/22/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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