Argoverse

The data in Argoverse comes from a subset of the area in which Argo AI¡¯s self-driving test vehicles are operating in Miami and Pittsburgh ¡ª two US cities with distinct urban driving challenges and local driving habits. We include recordings of our sensor data, or "log segments," across different seasons, weather conditions, and times of day to provide a broad range of real-world driving scenarios. Total lane coverage: 204 linear kilometers in Miami and 86 linear kilometers in Pittsburgh. Miami Beverly Terrace, Edgewater, Town Square Pittsburgh Downtown, Strip District, Lower Lawrenceville We collected all of our data using a fleet of identical Ford Fusion Hybrids, fully integrated with Argo AI self-driving technology. We include data from two LiDAR sensors, seven ring cameras and two front-facing stereo cameras. All sensors are roof-mounted: We use a city-specific coordinate system for vehicle localization. We include 6-DOF localization for each timestamp, from a combination of GPS-based and sensor-based localization methods. Sensor measurements for each driving session are stored in ¡°logs.¡±v For each log, we provide intrinsic and extrinsic calibration data for LiDAR and all nine cameras.