|
| KITTI | Cityscape | Argoverse | Oxford’s Robotic Car | ApolloScape | Nuscenes | BDD100K |
| RGB Images | 15 k | 25 k | 490 k | 20 M | 144 k | 1.4 M | 100 M |
| Multiple Cities | No | Yes | Yes | No | No | Yes | Yes |
| Multiple Weathers | No | No | Yes | Yes | No | Yes | Yes |
| Multiple Times of Day | No | No | Yes | Yes | No | Yes | Yes |
| Multiple Scene types | Yes | No | Yes | No | No | No | Yes |
| Year | 2012 | 2016 | 2019 | 2014 | 2018 | 2019 | 2017 |
| PCs lidar | 15 k | 0 | 44 k | 0 | 0 | 400 k | 0 |
| PCs radar | 0 | 0 | 0 | 0 | 0 | 1.3 M | 0 |
| Ann frames | 15 k | 25 k | 22 k | None | 144 k | 40 k | 100 k |
| 3D boxes | 200 k | 0 | 993 k | 3.3 M | 70 k | 1.4 M | 0 |
| Night/Rain | No/No | No/No | Yes/Yes | Yes/Yes | Yes/No | Yes/Yes | Yes/Yes |
| Map layers | 0 | 0 | 2 | 0 | 0 | 11 | 0 |
| Classes | 8 | 30 | 15 | 32 | 8-35 | 23 | 10 |
| Locations | Karlsruhe | 50 cities | Miami, PT | Oxford | 4x China | Boston, SG | NY, SF |