A large vehicle detection dataset with almost two million annotated vehicles for training and evaluating object detection methods for self-driving cars on freeways.

QUICK SPECS:

• 200,000 images
• 1,990,000 annotated vehicles
• 5 Megapixel resolution
• Sunshine, rain, dusk, night
• Clear freeways, heavy traffic, traffic jams

2D BOXES OR 3D CUBOIDS FOR VEHICLES

Axis-aligned bounding boxes (AABB) and trapezoids for a more accurate description. Simple AABB may intrude into neighboring lanes, as shown below.