Dataset Schema

Directory Structure

<DATASET_ID>/
└── <DATASET_VERSION>
    ├── annotation    ...schema tables in JSON format
    ├── data          ...sensor raw data
    ├── input_bag     ...original ROS bag file
    ├── map           ...map files
    └── status.json   ...dataset status information

Schema Tables

Annotation information is stored in the annotation directory.

See the document of dataset schema for details.

Sensor Data

Raw sensor data is stored in the data directory.

See the document of sensor data for details.

Map Data

Map data is stored in the map directory.

It is structured as follows:

map/
├── lanelet2_map.osm
└── pointcloud_map.pcd

status.json

status.json contains the information about the configuration used to generate the dataset.