D²-City: A Large-Scale Dashcam Video Dataset of Diverse Traffic Scenarios

D²-City is a large-scale driving video dataset that provides more than 10,000 dashcam videos recorded in 720p HD or 1080p FHD. Around 1000 of the videos come with detection and tracking annotation in each frame of all road objects, including bounding boxes and the tracking IDs of cars, vans, buses, trucks, pedestrians, motorcycles, bicycles, open- and closed-tricycles, forklifts, and large- and small-blocks. Some of the remainders of the videos come with road objects annotated in keyframes. Compared with existing datasets, D²-City benefits from its huge amount of diversity as data is collected from several cities throughout China and features varying weather, road, and traffic conditions. D²-City pays special attention to challenges in complex and various traffic scenarios. By bring more challenging cases to the community, we hope that this dataset will encourage and help new advances in the perception area of intelligent driving. The D²-City dataset and the corresponding challenges are originally hosted on DiDi GAIA's platform (URL: https://outreach.didichuxing.com/d2city/d2city)