nuScenes-ODD: An Extension of the nuScenes Dataset with Operational Design Domain Annotations

nuScenes-ODD is an extension of the widely used nuScenes dataset, providing additional annotations for Operational Design Domain (ODD) parameters relevant to autonomous driving research. While nuScenes offers multimodal sensor data (camera, LiDAR, radar) and 3D object annotations, it does not explicitly encode contextual driving conditions. This extension enriches nuScenes with structured ODD attributes, enabling research on scenario-based testing, validation, and decision-making under varying operational contexts. The dataset is provided in tabular CSV format. Each row is indexed by the sample_token, linking directly to nuScenes keyframes (2 Hz). Scene-level attributes that remain constant over an entire sequence are cross-referenced using the scene_token. The extended annotations include: Scenery: road type, lane configuration, drivable area, regulatory/warning/information traffic signs with time-of-operation... Environmental Conditions: weather (rain, fog), visibility, lighting... Dynamic Elements: traffic density, unusual road users, temporal smoothing of categorical attributes...