nuScenes Dataset v1.0 Full


The nuScenes dataset is a large-scale autonomous driving dataset. It features:

● Full sensor suite (1x LIDAR, 5x RADAR, 6x camera, IMU, GPS)
● 1000 scenes of 20s each
● 1,400,000 camera images
● 390,000 lidar sweeps
● Two diverse cities: Boston and Singapore
● Left versus right hand traffic
● Detailed map information
● Manual annotations for 23 object classes
● 1.4M 3D bounding boxes annotated at 2Hz
● Attributes such as visibility, activity and pose
● Free to use for non-commercial use
● For a commercial license contact

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