prepare_dataset.md

TbV

Download the Argoverse 2 Map Change Dataset(TbV) here.

Folder structure

RTMap
├── mmdetection3d/
├── projects/
├── tools/
├── ckpts/
│   ├── resnet50-19c8e357.pth
├── data/
│   ├── tbv/
│   │   ├── tbv_map_infos_synthetic_val.pkl
│   │   ├── tbv_map_infos_train.pkl

Prepare TbV data

In addition to the ground truth map, the annotation files also contain synthetic prior-maps with artificial perturbations, as well as pose noise. Your can download synthetic_val annotation file here and train annotation file here.