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StreamPETR_3D_Dataset

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StreamPETR CARLA Town04 3D Dataset

Synthetic multi-camera temporal dataset collected in CARLA Town04 for StreamPETR 3D object detection experiments.

Summary

8,100 synchronized frames and 48,600 JPEG images
Six cameras per frame at 1600x900
405 disjoint temporal clips
Nine weather presets
Three maneuvers: left, right, and straight
27 weather-maneuver cases with 300 frames per case
139,425 labeled 3D objects
Classes present: car, truck, bus, motorcycle, and bicycle

The split is scene-disjoint and balanced across all weather-maneuver cases:

Split	Frames	Clips	Frames per case
Train	6,480	324	240
Validation	1,620	81	60

Camera order

CAM_FRONT
CAM_FRONT_RIGHT
CAM_FRONT_LEFT
CAM_BACK
CAM_BACK_LEFT
CAM_BACK_RIGHT

Calibration, intrinsics, extrinsics, ego poses, timestamps, 2D annotations, and 3D annotations are stored in the temporal info PKL files. The camera profile is recorded as nuscenes-reference-v1 in the annotation metadata.

Layout

carla_town04_9weather_3maneuver_8100/
├── carla_town04_temporal_infos_train.pkl
├── carla_town04_temporal_infos_val.pkl
├── dataset_manifest.json
├── validation_report.json
├── lidar_placeholder.bin
└── samples/
    ├── CAM_FRONT/
    ├── CAM_FRONT_RIGHT/
    ├── CAM_FRONT_LEFT/
    ├── CAM_BACK/
    ├── CAM_BACK_LEFT/
    └── CAM_BACK_RIGHT/

Download for StreamPETR

Run this command from the StreamPETR repository root:

hf download BanVienCorp/StreamPETR_3D_Dataset \
  --repo-type dataset \
  --local-dir data

The annotation paths then resolve directly under:

data/carla_town04_9weather_3maneuver_8100/

Validation

All 48,600 JPEG files were decoded successfully before upload. The checked counts and calibration consistency results are included in validation_report.json.

Downloads last month: 134

Total file size:

8.14 GB