dataset.md

NuScenes

Download nuScenes V1.0 full dataset data HERE.

Download nuscenes_infos_occfusion_train.pkl HERE.

Download nuscenes_infos_occfusion_val.pkl HERE.

Download nuscenes_infos_occfusion_val_rainy.pkl HERE.

Download nuscenes_infos_occfusion_val_night.pkl HERE.

SurroundOcc-NuScenes, Occ3D-NuScenes and NuScenes-C Occupancy Benchmark

Download the SurroundOcc's 3D Occupancy annotations HERE

Download the Occ3D's 3D Occupancy annotations HERE

Download the NuScenes-C's 3D Occupancy annotations HERE

• only support training and validation set

dataset structure

OccCylindrical
├── data/
│   ├── nuScenes-c-image/
│   │   ├── Brightness/
│   │   ├── CameraCrash/
│   │   ├── ColorQuant/
│   │   ├── Fog/
│   │   ├── FrameLost/
│   │   ├── LowLight/
│   │   ├── MotionBlur/
│   │   ├── Snow/
│   ├── nuScenes-c-lidar/
│   │   ├── beam_missing/
│   │   ├── cross_sensor/
│   │   ├── crosstalk/
│   │   ├── fog/
│   │   ├── incomplete_echo/
│   │   ├── motion_blur/
│   │   ├── snow/
│   │   ├── wet_ground/
│   ├── nuscenes/
│   │   ├── maps/
│   │   ├── samples/
│   │   ├── sweeps/
│   │   ├── occ_samples/
│   │   ├── v1.0-test/
|   |   ├── v1.0-trainval/
|   |   ├── nuscenes_infos_occfusion_train.pkl
|   |   ├── nuscenes_infos_occfusion_val.pkl
|   |   ├── nuscenes_infos_occfusion_val_rainy.pkl
|   |   ├── nuscenes_infos_occfusion_val_night.pkl