This dataset includes the logs of movement of cars, cyclists, pedestrians, and other traffic agents encountered by our autonomous fleet. These logs come from processing raw lidar, camera, and radar data through our team’s perception systems and are ideal for training motion prediction models. The dataset includes:
0+
hours of traffic agent movement.
0K
miles of data from 23 vehicles.
0K
semantic map annotations.
The dataset consists of 170,000 scenes capturing the environment around the autonomous vehicle. Each scene encodes the state of the vehicle’s surroundings at a given point in time.
This baseline solution is trained on over 2 million samples from the agent locations contained within the dataset. The model predicts a single agent at a time. First, a raster generates a bird’s eye view (BEV) top-down raster, which encodes all agents and the map. The network infers the future coordinates of the agent-based upon this raster.
The dataset is provided in zarr format. The zarr files are flat, compact, and highly performant for loading. To read the dataset please use our new Python software kit.
The dataset consists of frames and agent states. A frame is a snapshot in time which consists of ego pose, time, and multiple agent states. Each agent state describes the position, orientation, bounds, and type.
FRAME_DTYPE = [
(“timestamp”, np.int64), // Time the frame occurred.
(“agent_index_interval”, np.int64, (2,)), // Agents contained within the scene.
(“ego_translation”, np.float32, (3,)), // Position of ego vehicle, used for image generation and pose transformations.
(“ego_rotation”, np.float32, (3, 3)), // Rotation of ego vehicle, used for image generation and pose transformations.
]
AGENT_DTYPE = [
(“centroid”, np.float32, (2,)), // Center of the agent.
(“extent”, np.float32, (3,)), // Size of agent.
(“yaw”, np.float32), // Agent heading.
(“velocity”, np.float32, (2,)), // Agent velocity (relative to heading, x is forward, y is left)
(“track_id”, np.int32), // Unique identifier for agent
(“label_probabilities”, np.float32, (len(LABELS),)), // Probability of the agent being a car, truck, pedestrian, etc.
]
Citation instruction
If you use the dataset for scientific work, please cite the following:
@misc{Woven Planet Holdings, Inc. 2020,
title = {One Thousand and One Hours: Self-driving Motion Prediction Dataset},
author = {Houston, J. and Zuidhof, G. and Bergamini, L. and Ye, Y. and Jain, A. and Omari, S. and Iglovikov, V. and Ondruska, P.},
year = {2020},
howpublished = {\url{https://level-5.global/level5/data/}}
}
Licensing information
The downloadable “Level 5 Prediction Dataset” and included semantic map data are ©2021 Woven Planet Holdings, Inc. 2020, and licensed under version 4.0 of the Creative Commons Attribution-NonCommercial-ShareAlike license (CC-BY-NC-SA-4.0).
The HD map included with the dataset was developed using data from the OpenStreetMap database which is ©OpenStreetMap contributors will be released under the Open Database License (ODbL) v1.0 license.
The Python software kit developed by Level 5 to read the dataset is available under the Apache license version 2.0.
The geo-tiff files included in the dataset were developed by ©2020 Nearmap Us, Inc. and are available under version 4.0 of the Creative Commons Attribution-NonCommercial-ShareAlike license (CC-BY-NC-SA-4.0).
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