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Published June 18, 2023 | Version 1.0
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Lanelet2 for nuScenes: Map Dataset

  • 1. FZI Research Center for Information Technology
  • 2. Trier University
  • 3. Delft University of Technology


Lanelet2 maps for the nuScenes dataset, which enable the usage of diverse map-based anchor paths and spatial semantic information. For details see our paper and project page. We also provide a pip package to facilitate the usage.

The maps were generated automatically and subsequently manually refined.


If you use this resource for scientific research, please consider citing

    author    = {Naumann, Alexander and Hertlein, Felix and Grimm, Daniel and Zipfl, Maximilian and Thoma, Steffen and Rettinger, Achim and Halilaj, Lavdim and Luettin, Juergen and Schmid, Stefan and Caesar, Holger},
    title     = {Lanelet2 for nuScenes: Enabling Spatial Semantic Relationships and Diverse Map-Based Anchor Paths},
    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
    month     = {June},
    year      = {2023},
    pages     = {3247-3256}


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