NuScenes

Download nuScenes V1.0 full dataset data HERE.

Generate annotation pickle files by running the following command:

python tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes

Using the above code will generate nuscenes_infos_{train,val}.pkl.

NuScenes Occupancy Benchmark

Download the SurroundOcc's 3D Occupancy annotations HERE

• only support training and validation set

dataset structure

InverseMatrixVT3D
├── data/
│   ├── nuscenes/
│   │   ├── maps/
│   │   ├── samples/
│   │   ├── sweeps/
│   │   ├── occ_samples/
│   │   ├── v1.0-test/
|   |   ├── v1.0-trainval/
|   |   ├── nuscenes_infos_train.pkl
|   |   ├── nuscenes_infos_val.pkl
|   |   ├── nuscenes_infos_test.pkl