Open Access

Table 4

Common datasets.

Dataset Release time Data source Number of models Label category
KITTI 2012 Camera, LiDAR, GPS 389 stereo images and optical flow pairs, labels for over 200k 3D targets 2D/3D
DTU 2016 Camera, structured light scanner 80 scenes with a total of 3920 views 3D
ShapeNet 2015 CAD synthesis Over 3 million models 3D
ScanNet 2017 RGB-D camera 1513 scenes with a total of 2.5 million images 3D
Tanks and Temples 2017 Cameras, industrial laser scanners 14 scenes, including objects such as tanks and artillery 3D
ETH3D 2017 Professional DSLR camera, multi camera shooting platform, laser scanner 13 training sets and 12 testing scenarios, 5 training and 5 testing videos, 27 training and 20 testing frames 3D
ApolloScape 2018 Camera, LiDAR 110K frames 2D/3D
Semantic KITTI 2019 LiDAR, GPS 28 labeling categories 3D
BlendedMVS 2020 Camera 113 3D models, totaling 17,818 images 3D
BDD100K 2020 Camera, GPS 100,000 HD videos 2D
nuScenes 2020 Cameras, Radar, LiDAR 1000 scenes tagged with 23 object categories totaling 14 million 3D tag boxes 2D/3D

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