Introduction #
The Self Driving Cars dataset comprises images and associated labeled semantic segmentations obtained using the CARLA self-driving car simulator. This dataset was created within the context of the Lyft Udacity Challenge. It serves as valuable data for training machine learning algorithms to recognize semantic segmentation of objects like cars, roads, and more.
Summary #
Semantic Segmentation for Self Driving Cars is a dataset for a semantic segmentation task. Possible applications of the dataset could be in the automotive industry.
The dataset consists of 5000 images with 344334 labeled objects belonging to 13 different classes including sky, road, tree, and other: sidewalk, car, pole, road markings, building, street infrastructure, fence, wall, traffic, and pedestrian.
Images in the Self Driving Cars dataset have pixel-level semantic segmentation annotations. All images are labeled (i.e. with annotations). There are no pre-defined train/val/test splits in the dataset. The dataset was released in 2018.
Here is the visualized example grid with animated annotations:
Explore #
Self Driving Cars dataset has 5000 images. Click on one of the examples below or open "Explore" tool anytime you need to view dataset images with annotations. This tool has extended visualization capabilities like zoom, translation, objects table, custom filters and more. Hover the mouse over the images to hide or show annotations.
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/4/a/sG/DixjIsc9DTTBrdcGL3x8jm3LHcH5tMTjUAlVFOjzOOeXIuCXOFuk5tpoCXUvzucYv0fxUm9ifV0ZFPZJ7ezluTnauDPEha3qhOTF50MjTHTPnCfUzAIX4Rc6VTu8.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/u/W/9I/a4tAODYvbcaaR8mpDuUWxF2qDh4fh65RH4lye91CKupf8OPvVZhiyA2ru80GZiESfD1XnOZioU5tCsKlcBLvRAeRxqwVQCDaSAXsDwdPYJGx0DuNEW0CKmZgoQaO.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/L/G/9v/WTxHaDW2yruE7zYVNZOxUNiKgg9IceN7QBRyLNIdXmMyNuLCtlSgqtO2XO9uEB3WCZOP3OHERk2SO0itX3ijPHTwKY19CPrnzBPioroYxikC850tB6TqrOPiNNSJ.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/g/Y/ji/BDrlgOds7WuR7M6fPLVJZOg0ra3ZEjZTYolHJeukkswaCHDbPghkXYxnHH1MmBOEIU0ORybsngqbnRxhQdrlPdtasAFU7GL1ir3Xs1kqEws7TrFB9IWvZQYe0SVK.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/o/E/8D/wTiSWSNWO3tRywqOl9NWJ46GWKpx74PNUFpNNd1i4NKT7AHUwWCRvpgsXjwxaJnC3FRQzuWRMz2XT3KXRhzCxWVy5CeKW8eUGCPyzl3Vu3gGs0sguLuVBqx5AdYa.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/U/z/R2/mkRFBUIrLC1PrNfcoyeWaZkEjPdBekewUrslzJe4rgYbfmH44tNTJ9s5LpgqQEKAkyXnlkbmzIV9Yx6tTL2y3X467gqKS0LL8H8oUTSJBCDdVNZ40h2eTnHAqHW3.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/a/b/sI/hr8GZ6zK8XiDiqGiQsjLW1GdR5CnHRz6Gen7zpVJqenXEIZy1GdChMnAdM7Fd1M8klDkifKHFklFSxM78Ms5QTC0OhbBVOcC6w4XxFB5tQVHztRR3xqXJW3giDGN.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/C/0/3g/iaiAnDPAaBRz9kugFkYUQz6XG8PpjHQOJ8JK996ABBOP3TWxa6IeqdWzAY3lGZkKj1rFNQa3krN4igSonrWPZIEpAopWsOzIordwRHAKj9zuR1AgdvCJ2ErrlX6p.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/1/z/op/sbIlJZOM71HilzxHwKISuPYDMtrRf0aijXgpxCHYqEEToHlo1hqevSEj5ijCA7h900WJ93UUA45m4YHd7qchLJgKyMJwaKJU7CfVx0VlpXzrOsgHHHCsZoCuiLOE.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/9/p/A5/7JJutuZTdJn0JWvhydhevbAp1gRaYBB723pidlnVdmek3QAWN0yZSqtsq33BQ9xkjFlHzPfzMiEqWWpQWa7PQR2PYdbko6Sog5iBd3DODxKc9WVcFk31zAeqHpco.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/t/q/II/1DhDRDetaliH5JijpUDtotCfbL3W9giz6oJwpSD5PeP6M7EtJRWsqJF3e83yE2OWml2ZaCaIZTWTUEJRfcfqNARGjsqJLjTv8XXlwByt5guDJkknKr9ylyVsP0jc.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/B/O/wL/8Pnf4BjBd7CBPqR0SlaM65haFaRmts48gE0Vff9oxVH4YGeRCvA9eWiZHXLpTjDX1sMKxQdlbfo0BME3Sb0ZPWIXzfIr94LSsderWGV3FGOcUTJ34mkctZfNfJng.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/u/Y/Iw/t6GZeVewbMcDjNP7pnsYqlRByWiSyMjSzraFOHSK2SrJaVCJrzanUWlDLZ3DdqMn9IZ1p0ntYnawiaAglAIcZZ9dt8JRirzDe2nuye4GSifuWxYuMvMaxgVHWdVl.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/n/k/wr/1jIR1MN0SvVWJOYtCdYnhyyeSwpr3LrOC1LZjtGH6O42og15f98V69O4KhGerMce0grnkQj9TL4BdQHyter7mYkFMG5NJMyhB7a9eL8wbbLUHSNGjk4hyOLtzL3i.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/6/2/kB/Z3Coj53Ro79IyXHjGua5vCa6asMZvXbcpI1O0ZTbDmdBj27D8Hahiu4ne5V2ueP2JcBZ28xVzcwweZkrbKgcQ40ffw7aHWnwLeqLke8TgkN61odh0xt2GhbwLBVc.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/E/t/tq/Sf4BLcsi7sJ2E6IGzX8Aos286GHyvYR0Dh58tLPpqZfs1OnBg3xGYXorlumxkFWezmpAlayEVUIRPBV9kfCtEXQmDK4pCKQX52RvSAZe7zxVGMFc4Vr1tIXcLIQ6.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/d/t/VX/sdthQ0OMZyXXyeuidGNfSWAinAe6zUj9q2kqe1N0LOqeEf5X0RpT6TdPnr05f5VwOWXCih2tWJGpbcxPwtksX3oaRp4AYjMmwVwpHQWAVFXDIku8QjaMHW8IYcOw.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/p/P/Df/qYL8LdLkhjpyAErpOsMz3gh0Hi1vTRd11gTBJ9j1mmwleUFS7u1fbrp64sHmj3WCiOLCd9SAz35tTlT2en6k1jMP05vy5WelQC8sKNc7QwoSKKL6GRh89LPXUjSr.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/N/Q/BD/3E6gFpOUqNCQfP3zHzncPhmXCyC2X4Vo7QNNkuG76EQ1ZPRwUDBMrFnhGpbZsVktFEKJCwlA85rfwCktVfe1ElivwnBISwNxK2YP6CMQvUsiiNcR5nhXQwyj0UCU.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/G/q/Od/oyvpECCTjmIFuzd5pP7A1thFwuad5cH3onTLJrc7rOFiu6oHy7eX30Pms5Wt8ULzPBF3IZ5EGiziCBkY0RiJXibPuuJNCKCQCdlHoOsQtVO3pSBe79mhU4W8t5lx.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/1/P/BA/GvItzn1PyVCQYatE6OXEpkK2wdaVfniqypIbGIh2djvhqClNtPGcwXZFNBuEzXAUWaXm0Umkqr5mrWIBwAsWFKk5I3ov14d4SVqlmUQd4SxQPALXmT0pQ7PcLgaf.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/Q/U/Os/SFBd0ZJuFveLoj1e1GMXne3Lo3C7XsW46QzgKLjR5mnwcVeQOSJBPGOtBbTe3JV8AWhakziHkCzASgodSI8nOslq5DvbXo9oGoQP5u6jxolyq7coHoHzhoo1cl8U.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/E/w/E9/00QFP2vhdRCNWdSSWWNAzxiaso30LuQRthS8JTEfBqvTLMHgQO2TaOcxhnX9PjBkGTtRGQ9wzmFBq434IyqXfu9UAw6hm4mCjhZ7PLFmojmduF97QC6tgqzJt1YK.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/e/h/T0/DVN2vvCFiRyrawvDHVh2TeYf8bfx5Q6rS8ClYe4ISaX0Nlp58cBIWJdlHNwS1Y20DgNlcb9qmXiLAdupWdzVBimaPf6D2S2eeC3CYpmQcyjQuldBxukMRtvCHlZN.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/2/M/TK/DSp3iLhO51eCkhwKwJc1k0kjujep07F3CLk05FQMlulJ8SnFhBvTt2HjWTgQBC329HopLkXVYogdsmQCwlWMNqGDh960s8nuwF1sVqcai0cBznHe8cz9fSz2kTTM.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/b/r/gf/Fa5OBA3M9dby1D77m3XgjKYaFalJsCVtJV0b3xVLd0gqJkMb1JFABwZHn409LU6deIco4MAOONAxLMCv90E5NEq87CR1uNXHzo7vzpJf8YlkesZf3uB6Jc5V9ANZ.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/7/q/lL/AheVt9ZV84qUNac86MEfpBJqvYlfPO1kpPi3rnvYEqGYDoNX1l13chOprv237dx7M5LsiY4ZsmuCzFiQEUeIMuBXeRBhpCOv1hew0zBsakD869JQU9DaFDVQSBKQ.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/4/8/ru/IH1mxPmWG4GP8cV7AXY1OR7na6m72imje66pQzlsRSHtB96Job96c18oZvZCPVtr6x1qUuyFl9krhomlHtFjwDv8M1QGp7rweyN0BMZmV7dn3Usr69YD3SPRDOAF.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/i/m/qd/YjkGtASd6OpXphVO5Kt8S7IOFxSy4GWo2H85GLjZYLuNJSI20TbVZUcBLsUyNcLHw5sOkVsEePbAuz3lj0O1cIdoJeilYj46mcDWu0baFI3ZL6CZ0QbmulrPAFlB.png)
![Sample image from Self Driving Cars](https://cdn.datasetninja.com/previews/q/ext:jpeg/resize:fill:400:0:0/q:70/plain/supervisely-supervisely-assets-public/images/original/D/q/sV/gRX1wtqTfdKeqTWhAJTLa4c0eXI8MzcqGv03HhMHkqXr2IssAP5Jr0cyDZ7yoRUsh4lgTcBVycCpL5g2QtA1D37AvHGXNt4czfYWZRNt9tNxubLnrEE0fOvvd8nl.png)
Class balance #
There are 13 annotation classes in the dataset. Find the general statistics and balances for every class in the table below. Click any row to preview images that have labels of the selected class. Sort by column to find the most rare or prevalent classes.
Class ã…¤ | Images ã…¤ | Objects ã…¤ | Count on image average | Area on image average |
---|---|---|---|---|
treeâž” mask | 5000 | 61336 | 12.27 | 12.3% |
skyâž” mask | 5000 | 110147 | 22.03 | 30.76% |
sidewalkâž” mask | 5000 | 25405 | 5.08 | 7.86% |
roadâž” mask | 5000 | 14683 | 2.94 | 19.44% |
carâž” mask | 5000 | 15718 | 3.14 | 16.63% |
poleâž” mask | 4909 | 18461 | 3.76 | 0.48% |
road markingsâž” mask | 4884 | 9133 | 1.87 | 0.76% |
buildingâž” mask | 4501 | 32651 | 7.25 | 9.36% |
street infrastructureâž” mask | 4490 | 23867 | 5.32 | 1.12% |
fenceâž” mask | 4353 | 15040 | 3.46 | 1% |
Co-occurrence matrix #
Co-occurrence matrix is an extremely valuable tool that shows you the images for every pair of classes: how many images have objects of both classes at the same time. If you click any cell, you will see those images. We added the tooltip with an explanation for every cell for your convenience, just hover the mouse over a cell to preview the description.
Images #
Explore every single image in the dataset with respect to the number of annotations of each class it has. Click a row to preview selected image. Sort by any column to find anomalies and edge cases. Use horizontal scroll if the table has many columns for a large number of classes in the dataset.
Object distribution #
Interactive heatmap chart for every class with object distribution shows how many images are in the dataset with a certain number of objects of a specific class. Users can click cell and see the list of all corresponding images.
Class sizes #
The table below gives various size properties of objects for every class. Click a row to see the image with annotations of the selected class. Sort columns to find classes with the smallest or largest objects or understand the size differences between classes.
Class | Object count | Avg area | Max area | Min area | Min height | Min height | Max height | Max height | Avg height | Avg height | Min width | Min width | Max width | Max width |
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
sky mask | 110147 | 1.4% | 46.3% | 0.01% | 1px | 0.17% | 392px | 65.33% | 36px | 5.96% | 1px | 0.12% | 800px | 100% |
tree mask | 61336 | 1% | 35.9% | 0.01% | 2px | 0.33% | 506px | 84.33% | 58px | 9.74% | 1px | 0.12% | 800px | 100% |
building mask | 32651 | 1.29% | 26.65% | 0.01% | 1px | 0.17% | 438px | 73% | 58px | 9.71% | 1px | 0.12% | 662px | 82.75% |
sidewalk mask | 25405 | 1.55% | 16.12% | 0.01% | 1px | 0.17% | 229px | 38.17% | 61px | 10.14% | 2px | 0.25% | 800px | 100% |
street infrastructure Unknown | 23867 | 0.21% | 9.83% | 0.01% | 1px | 0.17% | 442px | 73.67% | 29px | 4.86% | 2px | 0.25% | 387px | 48.38% |
pole mask | 18461 | 0.13% | 4.76% | 0.01% | 3px | 0.5% | 519px | 86.5% | 87px | 14.49% | 1px | 0.12% | 114px | 14.25% |
car mask | 15718 | 5.29% | 21.17% | 0.01% | 3px | 0.5% | 343px | 57.17% | 59px | 9.86% | 3px | 0.38% | 800px | 100% |
fence mask | 15040 | 0.29% | 10.13% | 0.01% | 2px | 0.33% | 428px | 71.33% | 44px | 7.3% | 1px | 0.12% | 800px | 100% |
road mask | 14683 | 6.62% | 29.03% | 0.01% | 1px | 0.17% | 240px | 40% | 137px | 22.84% | 3px | 0.38% | 800px | 100% |
wall mask | 13800 | 0.25% | 4.34% | 0.01% | 2px | 0.33% | 134px | 22.33% | 18px | 3.01% | 2px | 0.25% | 371px | 46.38% |
Spatial Heatmap #
The heatmaps below give the spatial distributions of all objects for every class. These visualizations provide insights into the most probable and rare object locations on the image. It helps analyze objects' placements in a dataset.
![Spatial Heatmap](https://cdn.datasetninja.com/github/dataset-ninja/self-driving-cars/main/stats/classes_heatmaps.png)
Objects #
Table contains all 344334 objects. Click a row to preview an image with annotations, and use search or pagination to navigate. Sort columns to find outliers in the dataset.
Object ID ã…¤ | Class ã…¤ | Image name click row to open | Image size height x width | Height ã…¤ | Height ã…¤ | Width ã…¤ | Width ã…¤ | Area ã…¤ |
---|---|---|---|---|---|---|---|---|
1âž” | sky mask | F5-74.png | 600 x 800 | 297px | 49.5% | 800px | 100% | 36.68% |
2âž” | sky mask | F5-74.png | 600 x 800 | 26px | 4.33% | 14px | 1.75% | 0.04% |
3âž” | sky mask | F5-74.png | 600 x 800 | 14px | 2.33% | 21px | 2.62% | 0.03% |
4âž” | sky mask | F5-74.png | 600 x 800 | 20px | 3.33% | 23px | 2.88% | 0.04% |
5âž” | sky mask | F5-74.png | 600 x 800 | 44px | 7.33% | 26px | 3.25% | 0.11% |
6âž” | sky mask | F5-74.png | 600 x 800 | 13px | 2.17% | 9px | 1.12% | 0.01% |
7âž” | sky mask | F5-74.png | 600 x 800 | 16px | 2.67% | 13px | 1.62% | 0.02% |
8âž” | sky mask | F5-74.png | 600 x 800 | 7px | 1.17% | 12px | 1.5% | 0.01% |
9âž” | sky mask | F5-74.png | 600 x 800 | 17px | 2.83% | 8px | 1% | 0.02% |
10âž” | sky mask | F5-74.png | 600 x 800 | 18px | 3% | 22px | 2.75% | 0.04% |
License #
Citation #
If you make use of the Self Driving Cars data, please cite the following reference:
@dataset{Self Driving Cars,
author={Kumaresan Manickavelu},
title={Semantic Segmentation for Self Driving Cars},
year={2018},
url={https://www.kaggle.com/datasets/kumaresanmanickavelu/lyft-udacity-challenge}
}
If you are happy with Dataset Ninja and use provided visualizations and tools in your work, please cite us:
@misc{ visualization-tools-for-self-driving-cars-dataset,
title = { Visualization Tools for Self Driving Cars Dataset },
type = { Computer Vision Tools },
author = { Dataset Ninja },
howpublished = { \url{ https://datasetninja.com/self-driving-cars } },
url = { https://datasetninja.com/self-driving-cars },
journal = { Dataset Ninja },
publisher = { Dataset Ninja },
year = { 2024 },
month = { sep },
note = { visited on 2024-09-08 },
}
Download #
Dataset Self Driving Cars can be downloaded in Supervisely format:
As an alternative, it can be downloaded with dataset-tools package:
pip install --upgrade dataset-tools
… using following python code:
import dataset_tools as dtools
dtools.download(dataset='Self Driving Cars', dst_dir='~/dataset-ninja/')
Make sure not to overlook the python code example available on the Supervisely Developer Portal. It will give you a clear idea of how to effortlessly work with the downloaded dataset.
The data in original format can be downloaded here.
Disclaimer #
Our gal from the legal dep told us we need to post this:
Dataset Ninja provides visualizations and statistics for some datasets that can be found online and can be downloaded by general audience. Dataset Ninja is not a dataset hosting platform and can only be used for informational purposes. The platform does not claim any rights for the original content, including images, videos, annotations and descriptions. Joint publishing is prohibited.
You take full responsibility when you use datasets presented at Dataset Ninja, as well as other information, including visualizations and statistics we provide. You are in charge of compliance with any dataset license and all other permissions. You are required to navigate datasets homepage and make sure that you can use it. In case of any questions, get in touch with us at hello@datasetninja.com.