folder frames (27 files)
filelidar_velodyne_core.tar.gz 355.94GB
fileoxts.tar.gz 55.66GB
filelidar_velodyne_10before.tar.gz 356.09GB
filelidar_velodyne_09before.tar.gz 356.07GB
filelidar_velodyne_10after.tar.gz 355.80GB
filelidar_velodyne_08before.tar.gz 356.06GB
filelidar_velodyne_09after.tar.gz 355.78GB
filelidar_velodyne_08after.tar.gz 355.75GB
filelidar_velodyne_07before.tar.gz 355.99GB
filelidar_velodyne_07after.tar.gz 355.77GB
filelidar_velodyne_06after.tar.gz 355.78GB
filelidar_velodyne_06before.tar.gz 355.99GB
filelidar_velodyne_05after.tar.gz 355.80GB
filelidar_velodyne_05before.tar.gz 356.08GB
filelidar_velodyne_04after.tar.gz 355.88GB
filelidar_velodyne_04before.tar.gz 355.99GB
filelidar_velodyne_03after.tar.gz 355.84GB
filelidar_velodyne_03before.tar.gz 355.85GB
filelidar_velodyne_02after.tar.gz 355.96GB
filelidar_velodyne_02before.tar.gz 356.00GB
filelidar_velodyne_01before.tar.gz 355.90GB
fileinfos.tar.gz 601.14MB
filelidar_velodyne_01after.tar.gz 355.96GB
fileimages_front_dnat.tar.gz 48.04GB
fileframes_mini.tar.gz 924.75MB
fileimages_front_blur.tar.gz 48.00GB
fileannotations.tar.gz 1.45GB
Type: Paper
Tags: Computer Vision, autonomous driving, object detection, semantic segmentation, traffic sign classification

title= {ZOD Frames},
journal= {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
author= {Mina Alibeigi and William Ljungbergh and Adam Tonderski and Georg Hess and Adam Lilja and Carl Lindstrom and Daria Motorniuk and Junsheng Fu and Jenny Widahl and Christoffer Petersson},
year= {2023},
url= {},
abstract= {Existing datasets for autonomous driving (AD) often lack diversity and long-range capabilities, focusing instead on 360◦ perception and temporal reasoning. To address this gap, we introduce ZOD, a large-scale and diverse multimodal dataset collected over two years in various European countries, covering an area 9× that of existing datasets. ZOD boasts the highest range and resolution sensors among comparable datasets, coupled with detailed keyframe annotations for 2D and 3D objects (up to 245m), road instance/semantic segmentation, traffic sign recognition, and road classification. We believe that this unique combination will facilitate breakthroughs in long-range perception and multi-task learning. The dataset is composed of Frames, Sequences, and Drives, designed to encompass both data diversity and support for spatio-temporal learning, sensor fusion, localization, and mapping. Frames consist of 100k curated camera images with two seconds of other supporting sensor data, while the 1473 Sequences and 29 Drives include the entire sensor suite for 20 seconds and a few minutes, respectively. ZOD is the only AD dataset released under the permissive CC BY-SA 4.0 license, allowing for both research and commercial use. More information, and an extensive devkit, can be found at},
keywords= {Computer Vision, autonomous driving, object detection, semantic segmentation, traffic sign classification},
license= {CC BY-SA},
terms= {},
superseded= {}

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