isSceneParticipantOf
Points to the same Participant at the next timestep.
Intrinsic camera calibration. Empty for sensors that are not cameras. <float> [3, 3]
Sensor channel name. CAM_FRONT CAM_BACK CAM_BACK_LEFT CAM_FRONT_LEFT CAM_FRONT_RIGHT CAM_BACK_RIGHT LIDAR_TOP RADAR_FRONT RADAR_FRONT_RIGHT RADAR_FRONT_LEFT RADAR_BACK_LEFT RADAR_BACK_RIGHT
Date when the data was captured, e.g. 2018-07-24
Longer description of the Sequence's content.
Log fine name (excluding path and sensor_modality) E.g. "n015-2018-07-24-11-22-45+0800" vehicleID-year-month-day-hour-minute-secod-time_offset?
{camera, lidar, radar} -- Sensor modality. Supports category(ies) in brackets.
This is a short description of the Sequence.
Number of lidar points in this box. Points are counted during the lidar sweep identified with this sample.
Number of radar points in this box. Points are counted during the radar sweep identified with this sample. This number is summed across all radar sensors without any invalid point filtering.
If the sample data is an image, this is the image height in pixels.
If the sample data is an image, this is the image width in pixels.
Whether a location has right hand traffic (like in Germany or the US). If the boolean is True, the location obeys right hand traffic rule. If False, the traffic is left hand. Singapore, for example, has left hand traffic.
CycleWithRider: There is a rider on the bicycle or motorcycle. CycleWithoutRider: There is NO rider on the bicycle or motorcycle. PedestrianMoving: The human is moving. PedestrianSittingLyingDown: The human is sitting or lying down. PedestrianStanding: The human is standing. VehicleMoving: Vehicle is moving. VehicleParked: Vehicle is stationary (usually for longer duration) with no immediate intent to move. VehicleStopped: Brief halt of vehicle during its travel.
Value: 1 "visibility of whole object is between 0 and 40%", "level": "v0-40" Value: 2 "description": "visibility of whole object is between 40 and 60%", "level": "v40-60" Value: 3 "description": "visibility of whole object is between 60 and 80%", "level": "v60-80" Value: 4 "description": "visibility of whole object is between 80 and 100%", "level": "v80-100"
True if sample_data is part of key_frame, else False.
This is a simplification of hasState. PedestrianMoving/VehicleMoving/VehicleStopped/CycleWithRider -> Dynamic PedestrianSittingLyingDown/PedestrianStanding/VehicleParked/CycleWithoutRider -> Static
All animals, e.g. cats, rats, dogs, deer, birds.
Background of the scene from Lidar segmentation. The nuScenes-lidarseg contains both foreground classes (pedestrians, vehicles, cyclists, etc.) and background classes (driveable surface, nature, buildings, etc.).
Temporary road barrier placed in the scene in order to redirect traffic. Commonly used at construction sites. This includes concrete barrier, metal barrier and water barrier. No fences.
Human or electric powered 2-wheeled vehicle designed to travel at lower speeds either on road surface, sidewalks or bike paths.
Bendy bus subcategory. Annotate each section of the bendy bus individually
Definition of a particular sensor (lidar/radar/camera) as calibrated on a particular vehicle. All extrinsic parameters are given with respect to the ego vehicle body frame. All camera images come undistorted and rectified.
Vehicle designed primarily for personal use, e.g. sedans, hatch-backs, wagons, vans, mini-vans, SUVs and jeeps. If the vehicle is designed to carry more than 10 people use vehicle.bus. If it is primarily designed to haul cargo use vehicle.truck.
Vehicles primarily designed for construction. Typically very slow moving or stationary. Cranes and extremities of construction vehicles are only included in annotations if they interfere with traffic. Trucks used to haul rocks or building materials are considered vehicle.truck rather than construction vehicles.
A sensor data e.g. image, point cloud or radar return. For Data with is_key_frame=True, the time-stamps should be very close to the Scene it points to. For non key-frames the sample_data points to the sample that follows closest in time.
Movable object that is left on the driveable surface that is too large to be driven over safely, e.g tree branch, full trash bag etc.
All types of police vehicles including police bicycles and motorcycles.
All paved or unpaved surfaces that a car can drive on with no concern of traffic rules.
All other forms of horizontal ground-level structures that do not belong to any of driveable_surface, curb, sidewalk and terrain. Includes elevated parts of traffic islands, delimiters, rail tracks, stairs with at most 3 steps and larger bodies of water (lakes, rivers).
Sidewalk, pedestrian walkways, bike paths, etc. Part of the ground designated for pedestrians or cyclists. Sidewalks do not have to be next to a road.
Natural horizontal surfaces such as ground level horizontal vegetation (< 20 cm tall), grass, rolling hills, soil, sand and gravel.
Map data that is stored as binary semantic masks from a top-down view.
Gasoline or electric powered 2-wheeled vehicle designed to move rapidly (at the speed of standard cars) on the road surface. This category includes all motorcycles, vespas and scooters.
Any lidar return that does not correspond to a physical object, such as dust, vapor, noise, fog, raindrops, smoke and reflections.
A bounding box defining the position of an object seen in a scene. All location data is given with respect to the global coordinate system.
A small electric or self-propelled vehicle, e.g. skateboard, segway, or scooters, on which the person typically travels in a upright position. Driver and (if applicable) rider should be included in the bounding box along with the vehicle.
Objects that a pedestrian may push or pull. For example dolleys, wheel barrows, garbage-bins, or shopping carts.
A scene is an annotated keyframe at 2 Hz. The data is collected at (approximately) the same timestamp as part of a single LIDAR sweep.
SceneParticipant
A Sequence is a 20s long sequence of consecutive frames extracted from a log. Multiple scenes can come from the same log. Note that object identities (instance tokens) are not preserved across scenes.
Includes man-made structures but not limited to: buildings, walls, guard rails, fences, poles, drainages, hydrants, flags, banners, street signs, electric circuit boxes, traffic lights, parking meters and stairs with more than 3 steps.
Points in the background that are not distinguishable. Or objects that do not match any of the above labels.
Any vegetation in the frame that is higher than the ground, including bushes, plants, potted plants, trees, etc. Only tall grass (> 20cm) is part of this, ground level grass is part of flat.terrain.
Strollers. If a person is in the stroller, include in the annotation.
Any vehicle trailer, both for trucks, cars and bikes.
Vehicles primarily designed to haul cargo including pick-ups, lorrys, trucks and semi-tractors. Trailers hauled after a semi-tractor should be labeled as vehicle.trailer
The vehicle on which the cameras, radar and lidar are mounted, that is sometimes visible at the bottom of the image.
Wheelchairs. If a person is in the wheelchair, include in the annotation.