nuScenes

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The MegaScenes Dataset is an extensive collection of around 430k scenes, featuring over 100k structure-from-motion reconstructions and over 2 million registered images. MegaScenes includes a diverse array of scenes, such as minarets, building interiors, statues, bridges, towers, religious buildings, and natural landscapes. The images of these scenes are captured under varying conditions, including different times of day, various weather and illumination, and from different devices with distinct camera intrinsics.

The RACECAR dataset is the first open dataset for full-scale and high-speed autonomous racing. Multi-modal sensor data has been collected from fully autonomous Indy race cars operating at speeds of up to 170 mph (273 kph). Six teams who raced in the Indy Autonomous Challenge during 2021-22 have contributed to this dataset. The dataset spans 11 interesting racing scenarios across two race tracks which include solo laps, multi-agent laps, overtaking situations, high-accelerations, banked tracks, obstacle avoidance, pit entry and exit at different speeds. The data is organized and released in both ROS2 and nuScenes format. We have also developed the ROS2-to-nuScenes conversion library to achieve this. The RACECAR data is unique because of the high-speed environment of autonomous racing and is suitable to explore issues regarding localization, object detection and tracking (LiDAR, Radar, and Camera), and mapping that arise at the limits of operation of the autonomous vehicle.

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