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        "author": "Holger Caesar, Oscar Beijbom, Qiang Xu, Varun Bankiti, Alex H. Lang, Sourabh Vora, Venice Erin Liong, Chris Li, Sergi Widjaja, Kiwoo Shin et al.",
        "author_email": "nuscenes@nutonomy.com",
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        "description": "# nuScenes devkit\nWelcome to the devkit of the [nuScenes](https://www.nuscenes.org) dataset.\n![](https://www.nuscenes.org/public/images/road.jpg)\n\n## Overview\n- [Changelog](#changelog)\n- [Dataset download](#dataset-download)\n- [Map expansion](#map-expansion)\n- [Devkit setup](#devkit-setup)\n- [Getting started](#getting-started)\n- [Citation](#citation)\n\n## Changelog\n- Jul. 1, 2019: Map expansion pack released.\n- Apr. 30, 2019: Devkit v1.0.1: loosen PIP requirements, refine detection challenge, export 2d annotation script. \n- Mar. 26, 2019: Full dataset, paper, & devkit v1.0.0 released. Support dropped for teaser data.\n- Dec. 20, 2018: Initial evaluation code released. Devkit folders restructured, which breaks backward compatibility.\n- Nov. 21, 2018: RADAR filtering and multi sweep aggregation.\n- Oct. 4, 2018: Code to parse RADAR data released.\n- Sep. 12, 2018: Devkit for teaser dataset released.\n\n## Dataset download\nTo download nuScenes you need to go to the [Download page](https://www.nuscenes.org/download), \ncreate an account and agree to the nuScenes [Terms of Use](https://www.nuscenes.org/terms-of-use).\nAfter logging in you will see multiple archives. \nFor the devkit to work you will need to download *all* archives.\nPlease unpack the archives to the `/data/sets/nuscenes` folder \\*without\\* overwriting folders that occur in multiple archives.\nEventually you should have the following folder structure:\n```\n/data/sets/nuscenes\n    samples\t-\tSensor data for keyframes.\n    sweeps\t-\tSensor data for intermediate frames.\n    maps\t-\tFolder for all map files: rasterized .png images and vectorized .json files.\n    v1.0-*\t-\tJSON tables that include all the meta data and annotations. Each split (trainval, test, mini) is provided in a separate folder.\n```\nIf you want to use another folder, specify the `dataroot` parameter of the NuScenes class (see tutorial).\n\n## Map expansion\nIn July 2019 we published a map expansion pack with 11 semantic layers (crosswalk, sidewalk, traffic lights, stop lines, lanes, etc.).\nTo install this expansion, please follow these steps:\n- Download the expansion pack from the [Download page](https://www.nuscenes.org/download),\n- Move the four .json files to your nuScenes maps folder (e.g. `/data/sets/nuscenes/maps`).\n- Get the latest version of the nuscenes-devkit.\n- If you already have a previous version of the devkit, update the pip requirements (see [details](https://github.com/nutonomy/nuscenes-devkit/blob/master/setup/installation.md)): `pip install -r setup/requirements.txt`\n\n## Devkit setup\nThe devkit is tested for Python 3.6 and Python 3.7.\nTo install Python, please check [here](https://github.com/nutonomy/nuscenes-devkit/blob/master/installation.md#install-python).\n\nOur devkit is available and can be installed via [pip](https://pip.pypa.io/en/stable/installing/) :\n```\npip install nuscenes-devkit\n```\nFor an advanced installation, see [installation](https://github.com/nutonomy/nuscenes-devkit/blob/master/setup/installation.md) for detailed instructions.\n\n## Getting started\nPlease follow these steps to make yourself familiar with the nuScenes dataset:\n- Read the [dataset description](https://www.nuscenes.org/overview).\n- [Explore](https://www.nuscenes.org/explore/scene-0011/0) the lidar viewer and videos.\n- [Download](https://www.nuscenes.org/download) the dataset. \n- Get the [nuscenes-devkit code](https://github.com/nutonomy/nuscenes-devkit).\n- Read the [online tutorial](https://www.nuscenes.org/tutorial) or run it yourself using:\n```\njupyter notebook $HOME/nuscenes-devkit/python-sdk/tutorial.ipynb\n```\n- Read the [nuScenes paper](https://www.nuscenes.org/publications) for a detailed analysis of the dataset.\n- Run the [map expansion tutorial](https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/map_expansion/map_demo.ipynb).\n- Take a look at the [experimental scripts](https://github.com/nutonomy/nuscenes-devkit/tree/master/python-sdk/nuscenes/scripts).\n- For instructions related to the object detection task (results format, classes and evaluation metrics), please refer to [this readme](https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/eval/detection/README.md).\n- See the [database schema](https://github.com/nutonomy/nuscenes-devkit/blob/master/schema.md) and [annotator instructions](https://github.com/nutonomy/nuscenes-devkit/blob/master/instructions.md).\n- See the [FAQs](https://github.com/nutonomy/nuscenes-devkit/blob/master/faqs.md).\n\n## Citation\nPlease use the following citation when referencing [nuScenes](https://arxiv.org/abs/1903.11027):\n```\n@article{nuscenes2019,\n  title={nuScenes: A multimodal dataset for autonomous driving},\n  author={Holger Caesar and Varun Bankiti and Alex H. Lang and Sourabh Vora and \n          Venice Erin Liong and Qiang Xu and Anush Krishnan and Yu Pan and \n          Giancarlo Baldan and Oscar Beijbom},\n  journal={arXiv preprint arXiv:1903.11027},\n  year={2019}\n}\n```\n\n![](https://www.nuscenes.org/public/images/nuscenes-example.png)\n\n\n",
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