What is Argoverse?

• One dataset with 3D tracking annotations for 113 scenes
• One dataset with 324,557 interesting vehicle trajectories extracted from over 1000 driving hours
• Two high-definition (HD) maps with lane centerlines, traffic direction, ground height, and more
• One API to connect the map data with sensor information

Data collection

Where was the data collected?

The data in Argoverse comes from a subset of the area in which Argo AI¡¯s self-driving test vehicles are operating in Miami and Pittsburgh ¡ª two US cities with distinct urban driving challenges and local driving habits. We include recordings of our sensor data, or "log segments," across different seasons, weather conditions, and times of day to provide a broad range of real-world driving scenarios.

Total lane coverage: 204 linear kilometers in Miami and 86 linear kilometers in Pittsburgh.

Miami

Beverly Terrace, Edgewater, Town Square

Pittsburgh

Downtown, Strip District, Lower Lawrenceville

How was the data collected?

We collected all of our data using a fleet of identical Ford Fusion Hybrids, fully integrated with Argo AI self-driving technology. We include data from two LiDAR sensors, seven ring cameras and two front-facing stereo cameras. All sensors are roof-mounted:

LiDAR

• 2 roof-mounted LiDAR sensors
• Overlapping 40¡ã vertical field of view
• Range of 200m
• On average, our LiDAR sensors produce a point cloud with ~ 107,000 points at 10 Hz

Localization

We use a city-specific coordinate system for vehicle localization. We include 6-DOF localization for each timestamp, from a combination of GPS-based and sensor-based localization methods.

Cameras

• Seven high-resolution ring cameras (1920 x 1200) recording at 30 Hz with a combined 360¡ã field of view
• Two front-view facing stereo cameras (2056 x 2464) sampled at 5 Hz

Calibration

Sensor measurements for each driving session are stored in ¡°logs.¡±v For each log, we provide intrinsic and extrinsic calibration data for LiDAR and all nine cameras.