# 数据集介绍
  ## 简介
  nuScenes数据集是一个大规模的自动驾驶数据集。该数据集具有用于在波士顿和新加坡收集的1000场景的3D边界框。每个场景长20秒，注释为2Hz。这导致总共28130个用于训练的样本，6019个用于验证的样本和6008个用于测试的样本。该数据集具有完整的自动驾驶车辆数据套件: 32光束激光雷达，6个摄像头和具有完整360 ° 覆盖的雷达。3D对象检测挑战评估10个类别的性能: 汽车，卡车，公共汽车，拖车，建筑车辆，行人，摩托车，自行车，交通锥和障碍物。
  ## 类定义
  ```
animal
human.pedestrian.adult
human.pedestrian.child
human.pedestrian.construction_worker
human.pedestrian.personal_mobility
human.pedestrian.police_officer
human.pedestrian.stroller
human.pedestrian.wheelchair
movable_object.barrier
movable_object.debris
movable_object.pushable_pullable
movable_object.trafficcone
static_object.bicycle_rack *
vehicle.bicycle
vehicle.bus.bendy
vehicle.bus.rigid
vehicle.car
vehicle.construction
vehicle.emergency.ambulance
vehicle.emergency.police
vehicle.motorcycle
vehicle.trailer
vehicle.truck
flat.driveable_surface
flat.other
flat.sidewalk
flat.terrain
static.manmade
static.other
static.vegetation
vehicle.ego
noise
```
  ## 引文
  ```
@article{nuscenes2019,
  title={nuScenes: A multimodal dataset for autonomous driving},
  author={Holger Caesar and Varun Bankiti and Alex H. Lang and Sourabh Vora and 
          Venice Erin Liong and Qiang Xu and Anush Krishnan and Yu Pan and 
          Giancarlo Baldan and Oscar Beijbom},
  journal={arXiv preprint arXiv:1903.11027},
  year={2019}
}
```
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