we have presented a diverse dataset for autonomous driving by capturing a wide range of interesting scenarios, which shows the domain diversity among different cities, including Beijing, Shenzhen and Xi¡¯an. The dataset are open to the public; anyone interested in training is welcome. We believe that this dataset will be highly useful in many areas of computer vision and autonomous driving.

Data Collection

We collect the data in different cities, including Beijing, Shenzhen and Xi¡¯an. The data collection covers multiple regions, and various driving conditions, including day, night, dawn, dusk and sunny day. We sample the raw data in different sample frequency according to the different velocity of the collection car. Then our annotators discard the data whose scene is the same with other files. The remaining files are annotated by the annotators.