CarlaScapes dataset samples from CARLA simulator involving 12 different Maps(Town01-Town07, Town10HD, Town11-Town13, Town15). Specifically, these maps imitate the real-world settings such as urban, suburban, highway, and rural areas. The dataset contains 5000 images with 19 semantic categories and 9 custom categories. The dataset is divided into 4000 training images and 1000 testing images. In the following, we give an example of different map's images.
The semantic categories are divided into 19 cityscapes classes (bold type) and 9 custom classes (italic form). The 19 cityscapes classes are the same as in the CityScapes dataset.
| Tag | Color | LabelId | Tag | Color | LabelId | Tag | Color | LabelId |
|---|---|---|---|---|---|---|---|---|
| unlabeled | (0,0,0) | 0 | terrain | (152,251,152) | 10 | static | (110,190,160) | 20 |
| road | (128,64,128) | 1 | sky | (70,130,180) | 11 | dynamic | (170,120,50) | 21 |
| sidewalk | (244,35,232) | 2 | pedestrian | (220,20,60) | 12 | other | (55,90,80) | 22 |
| building | (70,70,70) | 3 | rider | (255,0,0) | 13 | water | (45,60,150) | 23 |
| wall | (102,102,156) | 4 | car | (0,0,142) | 14 | road line | (157,234,50) | 24 |
| fence | (190,153,153) | 5 | truck | (0,0,70) | 15 | ground | (81,0,81) | 25 |
| pole | (153,153,153) | 6 | bus | (0,60,100) | 16 | bridge | (150,100,100) | 26 |
| traffic_light | (250,170,30) | 7 | train | (0,80,100) | 17 | rail track | (230,150,140) | 27 |
| traffic_sign | (220,220,0) | 8 | motorcycle | (0,0,230) | 18 | guard rail | (180,165,180) | 28 |
| vegetation | (107,142,35) | 9 | bicycle | (119,11,32) | 19 |
We also provide two data compression files for you to choose from:
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Linux: carlascapes.tar.gz
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Windows: carlascapes.zip
After downloading and unzipping the above files, you can get the following directory structure. Concretely, the file naming format is {town}_{timestamp}_{frame}_{type}.{suffix}.
CarlaScapes
├── train
│ ├── Town01
│ │ ├── Town01_000010_074800_bounding_box.xml
│ │ ├── Town01_000010_074800_color.png
│ │ ├── Town01_000010_074800_gnss.json
│ │ ├── Town01_000010_074800_img.png
│ │ ├── Town01_000010_074800_instance.json
│ │ `── Town01_000010_074800_labelIds.png
│ ├── Town02
│ │ ├── ...
├── test
│ ├── Town15
│ │ ├── ...
`── README.md
[2] CARLA Simulator