isSceneParticipantOf
type: ObjectProperty
domain: SceneParticipant
range: Participant

inNextScene
type: ObjectProperty
domain: SceneParticipant
range: SceneParticipant
comment: Points to the same Participant at the next timestep.

hasCameraIntrinsic
type: DatatypeProperty
domain: Calibration
range: string
comment: Intrinsic camera calibration. Empty for sensors that are not cameras. <float> [3, 3]

hasChannel
type: DatatypeProperty
sub property of: topDataProperty
domain: Sensor
range: string
comment: 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

hasDate
type: DatatypeProperty
domain: Trip
range: dateTime
comment: Date when the data was captured, e.g. 2018-07-24

hasDescription
type: DatatypeProperty
domain: Sequence
range: string
comment: Longer description of the Sequence's content.

hasFilename
type: DatatypeProperty
domain: Data
domain: Map
range: string
comment: Relative path to the file

hasLogfile
type: DatatypeProperty
domain: Trip
range: string
comment: 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?

hasModality
type: DatatypeProperty
domain: Sensor
range: string
comment: {camera, lidar, radar} -- Sensor modality. Supports category(ies) in brackets.

hasName
type: DatatypeProperty
domain: Sequence
range: string
comment: This is a short description of the Sequence.

hasNumLidarPts
type: DatatypeProperty
domain: SceneParticipant
range: integer
comment: Number of lidar points in this box. Points are counted during the lidar sweep identified with this sample.

hasNumRadarPts
type: DatatypeProperty
domain: SceneParticipant
range: integer
comment: 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.

hasPixelHeight
type: DatatypeProperty
domain: Data
range: integer
comment: If the sample data is an image, this is the image height in pixels.

hasPixelWidth
type: DatatypeProperty
domain: Data
range: integer
comment: If the sample data is an image, this is the image width in pixels.

hasRightHandTraffic
type: DatatypeProperty
domain: Location
range: boolean
comment: 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.

hasState
type: DatatypeProperty
sub property of: topDataProperty
domain: SceneParticipant
range: Datatype
  one of: CycleWithRider
  one of: CycleWithoutRider
  one of: PedestrianMoving
  one of: PedestrianSittingLyingDown
  one of: PedestrianStanding
  one of: VehicleMoving
  one of: VehicleParked
  one of: VehicleStopped
comment: 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.

hasVisibility
type: DatatypeProperty
domain: SceneParticipant
range: int
comment: 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"

isKeyframe
type: DatatypeProperty
domain: Data
range: boolean
comment: True if sample_data is part of key_frame, else False.

hasSimpleState
type: DatatypeProperty
sub property of: topDataProperty
domain: SceneParticipant
range: Datatype
  one of: Dynamic
  one of: Static
comment: This is a simplification of hasState. PedestrianMoving/VehicleMoving/VehicleStopped/CycleWithRider -> Dynamic PedestrianSittingLyingDown/PedestrianStanding/VehicleParked/CycleWithoutRider -> Static

Animal
type: Class
subclass of: Participant
comment: All animals, e.g. cats, rats, dogs, deer, birds.

Background
type: Class
comment: 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.).

Barrier
type: Class
subclass of: MovableObject
comment: 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.

Bicycle
type: Class
subclass of: Vehicle
comment: Human or electric powered 2-wheeled vehicle designed to travel at lower speeds either on road surface, sidewalks or bike paths.

BusBendy
type: Class
subclass of: Vehicle
comment: Bendy bus subcategory. Annotate each section of the bendy bus individually

Calibration
type: Class
comment: 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.

Car
type: Class
subclass of: Vehicle
comment: 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.

ConstructionVehicle
type: Class
subclass of: Vehicle
comment: 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.

Data
type: Class
comment: 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.

Debris
type: Class
subclass of: MovableObject
comment: 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.

EmergencyAmbulance
type: Class
subclass of: Vehicle
comment: All types of ambulances.

EmergencyPolice
type: Class
subclass of: Vehicle
comment: All types of police vehicles including police bicycles and motorcycles.

FlatDrivableSurface
type: Class
subclass of: Background
comment: All paved or unpaved surfaces that a car can drive on with no concern of traffic rules.

FlatOther
type: Class
subclass of: Background
comment: 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).

FlatSidewalk
type: Class
subclass of: Background
comment: 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.

FlatTerrain
type: Class
subclass of: Background
comment: Natural horizontal surfaces such as ground level horizontal vegetation (< 20 cm tall), grass, rolling hills, soil, sand and gravel.

Map
type: Class
comment: Map data that is stored as binary semantic masks from a top-down view.

Motorcycle
type: Class
subclass of: Vehicle
comment: 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.

Noise
type: Class
subclass of: Background
comment: Any lidar return that does not correspond to a physical object, such as dust, vapor, noise, fog, raindrops, smoke and reflections.

Participant
type: Class
comment: 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.

PersonalMobility
type: Class
subclass of: Human
comment: 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.

PushablePullable
type: Class
subclass of: MovableObject
comment: Objects that a pedestrian may push or pull. For example dolleys, wheel barrows, garbage-bins, or shopping carts.

Scene
type: Class
comment: 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
type: Class

Sequence
type: Class
comment: 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.

StaticManmade
type: Class
subclass of: Background
comment: 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.

StaticOther
type: Class
subclass of: Background
comment: Points in the background that are not distinguishable. Or objects that do not match any of the above labels.

StaticVegetation
type: Class
subclass of: Background
comment: 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.

Stroller
type: Class
subclass of: Human
comment: Strollers. If a person is in the stroller, include in the annotation.

Trailer
type: Class
subclass of: Vehicle
comment: Any vehicle trailer, both for trucks, cars and bikes.

Truck
type: Class
subclass of: Vehicle
comment: 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

VehicleEgo
type: Class
subclass of: Background
comment: The vehicle on which the cameras, radar and lidar are mounted, that is sometimes visible at the bottom of the image.

Wheelchair
type: Class
subclass of: Human
comment: Wheelchairs. If a person is in the wheelchair, include in the annotation.

Vector2d
type: Class
subclass of: Vector
comment: 2-dimensional vector.

boston-seaport
type: NamedIndividual
type: Location
has right hand traffic: true

singapore-hollandvillage
type: NamedIndividual
type: Location
has right hand traffic: false

singapore-onenorth
type: NamedIndividual
type: Location
has right hand traffic: false

singapore-queenstown
type: NamedIndividual
type: Location
has right hand traffic: false