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The ApolloScape Dataset for Autonomous Driving
Open accessAbstract
Scene parsing aims to assign a class (semantic) label for each pixel in an image. It is a comprehensive analysis of an image. Given the rise of autonomous driving, pixel-accurate environmental perception is expected to be a key enabling technical piece. However, providing a large scale dataset for the design and evaluation of scene parsing algorithms, in particular for outdoor scenes, has been difficult. The per-pixel labelling process is prohibitively expensive, limiting the scale of existing ones. In this paper, we present a large-scale open dataset, ApolloScape, that consists of RGB videos and corresponding dense 3D point clouds. Comparing with existing datasets, our dataset has the following unique properties. The first is its scale, our initial release contains over 140K images - each with its per-pixel semantic mask, up to 1M is scheduled. The second is its complexity. Captured in various traffic conditions, the number of moving objects averages from tens to over one hundred (Figure 1). And the third is the 3D attribute, each image is tagged with high-accuracy pose information at cm accuracy and the static background point cloud has mm relative accuracy. We are able to label these many images by an interactive and efficient labelling pipeline that utilizes the high-quality 3D point cloud. Moreover, our dataset also contains different lane markings based on the lane colors and styles. We expect our new dataset can deeply benefit various autonomous driving related applications that include but not limited to 2D/3D scene understanding, localization, transfer learning, and driving simulation.
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“Depending on the particular task (see Section 4, for the full list), the class imbalance may be an issue [19], therefore, task-specific splits are also provided.”
From WoodScape: A Multi-Task, Multi-Camera Fisheye Dataset for Autonomous Driving (2019) · cites this paper as [19]
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“Most of the reviewed datasets provide ground-truth labels for 2D object detection and semantic segmentation tasks [60], [75], [88], [90]-[93].”
From Deep Multi-Modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges (2021) · cites this paper as [60]
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Enhanced Perception for Autonomous Driving Using Semantic and Geometric Data Fusion
Florea, H., Petrovai, A., Giosan, I., Oniga, F., Varga, R., & Nedevschi, S. (2022) · Sensors · doi:10.3390/s22135061 · Cited by 31
Event-Aware Video Deraining via Multi-Patch Progressive Learning
Sun, S., Ren, W., Li, J., Zhang, K., Liang, M., & Cao, X. (2023) · IEEE Transactions on Image Processing · doi:10.1109/tip.2023.3272283 · Cited by 32
Pixel-Accurate Depth Evaluation in Realistic Driving Scenarios
Gruber, T., Bijelic, M., Heide, F., Ritter, W., & Dietmayer, K. (2019) · International Conference on 3D Vision (3DV) · doi:10.1109/3dv.2019.00020 · Cited by 32
Overview of image-based 3D reconstruction technology
Niu, Y., Liu, L., Huang, F., Huang, S., & Chen, S. (2024) · Journal of the European Optical Society Rapid Publications · doi:10.1051/jeos/2024018 · Cited by 33
Integrating Multi-Modal Sensors: A Review of Fusion Techniques for Intelligent Vehicles
Wei, C., Qin, Z., Zhang, Z., Wu, G., & Barth, M. (2025) · IEEE Intelligent Vehicles Symposium · doi:10.1109/iv64158.2025.11097396 · Cited by 38
Trajectory Prediction in Heterogeneous Environment via Attended Ecology Embedding
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Segment as Points for Efficient and Effective Online Multi-Object Tracking and Segmentation
Xu, Z., Yang, W., Zhang, W., Tan, X., Huang, H., & Huang, L. (2021) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2021.3087898 · Cited by 29
Poribohon-BD: Bangladeshi local vehicle image dataset with annotation for classification
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Road object detection for HD map: Full-element survey, analysis and perspectives
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Marcu, A., Licăreţ, V., Costea, D., & Leordeanu, M. (2021) · Lecture notes in computer science · doi:10.1007/978-3-030-69525-5_32 · Cited by 27
Lu, P., Xu, S., & Peng, H. (2021) · IEEE Transactions on Image Processing · doi:10.1109/tip.2021.3057287 · Cited by 28
A novel multimodal fusion network based on a joint-coding model for lane line segmentation
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PCGen: Point Cloud Generator for LiDAR Simulation
Li, C., Ren, Y., & Liu, B. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161226 · Cited by 28
Du, L., Chen, W., Fu, S., Kong, H., Li, C., & Pei, Z. (2019) · International Conference on Transportation Information and Safety · doi:10.1109/ictis.2019.8883761 · Cited by 27
Key Ingredients of Self-Driving CarsPreprint
Fan, R., Jiao, J., Ye, H., Yu, Y., Pitas, I., & Liu, M. (2019) · arXiv (Cornell University) · doi:10.48550/arxiv.1906.02939 · Cited by 27
Robust Perception Under Adverse Conditions for Autonomous Driving Based on Data Augmentation
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MRSI: A multimodal proximity remote sensing data set for environment perception in rail transit
Chen, Y., Zhu, N., Wu, Q., Wu, C., Niu, W., & Wang, Y. (2021) · International Journal of Intelligent Systems · doi:10.1002/int.22801 · Cited by 26
Metadata
- Authors
- Huang, X., Cheng, X., Geng, Q., Cao, B., Zhou, D., Wang, P., Lin, Y., & Yang, R.
- Affiliations
- National Engineering Laboratory of Deep Learning Technology and Application (CN)
- Venue
- 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)
- Publisher
- IEEE
- Published
- 2018-06
- Pages
- 1067-10676
- OpenAlex
- W2791763440
- Cited by
- 679
- References
- 66
- Citations by year
- 2026: 44 · 2025: 100 · 2024: 99 · 2023: 95 · 2022: 69 · 2021: 85 · 2020: 89 · 2019: 80 · 2018: 17
- FWCI
- 20.42
- Type
- conference paper
- Language
- en
- Open access
- green
- arxiv.org
- Locations
- IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW) (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- TIB Data Manager
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Neural Network Applications
- Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Keywords
- autonomous driving, scene parsing, semantic segmentation, 3D point clouds, outdoor scenes, camera pose estimation, lane markings, driving simulation, environmental perception
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
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