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One Thousand and One Hours: Self-driving Motion Prediction Dataset

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arxiv 2006.14480 v2 pith:M4QTMQGG submitted 2020-06-25 cs.CV cs.LGcs.RO

John Houston , Guido Zuidhof , Luca Bergamini , Yawei Ye , Long Chen , Ashesh Jain , Sammy Omari , Vladimir Iglovikov
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Peter Ondruska
This is my paper · ORCID
classification cs.CVcs.LGcs.RO
keywords datasetself-drivingmotiondatehigh-definitionhourslargestprediction
verification ladder T0 review T1 audit T2 compute T3 formal
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Motivated by the impact of large-scale datasets on ML systems we present the largest self-driving dataset for motion prediction to date, containing over 1,000 hours of data. This was collected by a fleet of 20 autonomous vehicles along a fixed route in Palo Alto, California, over a four-month period. It consists of 170,000 scenes, where each scene is 25 seconds long and captures the perception output of the self-driving system, which encodes the precise positions and motions of nearby vehicles, cyclists, and pedestrians over time. On top of this, the dataset contains a high-definition semantic map with 15,242 labelled elements and a high-definition aerial view over the area. We show that using a dataset of this size dramatically improves performance for key self-driving problems. Combined with the provided software kit, this collection forms the largest and most detailed dataset to date for the development of self-driving machine learning tasks, such as motion forecasting, motion planning and simulation. The full dataset is available at http://level5.lyft.com/.

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