| 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 |