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Data Download

We provide three download links here to access the OpenLane dataset.

The entire folder hierarchy is shown below.

├── images
|   ├── training
|   |   ├── segment-xxx
|   |   |   ├── xxx.jpg
|   |   |   └── ...
|   |   ├── segment-xxx
|   |   |   ├── xxx.jpg
|   |   |   └── ...
|   |   └── ...
|   └── validation
|       ├── segment-xxx
|       |   ├── xxx.jpg
|       |   └── ...
|       ├── segment-xxx
|       |   ├── xxx.jpg
|       |   └── ...
|       └── ...
├── cipo
|   ├── training
|   |   ├── segment-xxx
|   |   |   ├── xxx.jpg.json
|   |   |   └── ...
|   |   ├── segment-xxx
|   |   |   ├── xxx.jpg.json
|   |   |   └── ...
|   |   └── ...
|   └── validation
|       ├── segment-xxx
|       |   ├── xxx.jpg.json
|       |   └── ...
|       ├── segment-xxx
|       |   ├── xxx.jpg.json
|       |   └── ...
|       └── ...
├── lane3d_300
|   ├── training
|   |   ├── segment-xxx
|   |   |   ├── xxx.json
|   |   |   └── ...
|   |   ├── segment-xxx
|   |   |   ├── xxx.json
|   |   |   └── ...
|   |   └── ...
|   ├── validation
|   |   ├── segment-xxx
|   |   |   ├── xxx.json
|   |   |   └── ...
|   |   ├── segment-xxx
|   |   |   ├── xxx.json
|   |   |   └── ...
|   |   └── ...
|   └── test
|       ├── curve_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── extreme_weather_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── intersection_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── merge_split_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── night_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── up_down_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── curve.txt
|       ├── extreme_weather.txt
|       ├── intersection.txt
|       ├── merge_split.txt
|       ├── night.txt
|       └── up_down.txt
├── lane3d_1000
|   ├── training
|   |   ├── segment-xxx
|   |   |   ├── xxx.json
|   |   |   └── ...
|   |   ├── segment-xxx
|   |   |   ├── xxx.json
|   |   |   └── ...
|   |   └── ...
|   ├── validation
|   |   ├── segment-xxx
|   |   |   ├── xxx.json
|   |   |   └── ...
|   |   ├── segment-xxx
|   |   |   ├── xxx.json
|   |   |   └── ...
|   |   └── ...
|   └── test
|       ├── curve_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── extreme_weather_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── intersection_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── merge_split_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── night_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── up_down_case
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   ├── segment-xxx
|       |   |   ├── xxx.json
|       |   |   └── ...
|       |   └── ...
|       ├── 1000_curve.txt
|       ├── 1000_extreme_weather.txt
|       ├── 1000_intersection.txt
|       ├── 1000_merge_split.txt
|       ├── 1000_night.txt
|       └── 1000_up_down.txt
└── scene
    └── SCENE
        └── scene.json
  • Universal Rules: We use XXX to represent any of images, cipo, lane3d_300 and lane3d_1000. We provide train/val split under XXX/training/ and XXX/validation/, and it's consistent to Waymo original train/val split. XXX/training/segment-xxx denotes that the following files belong to a whole segment.
  • images/: this folder contains all the front-view raw image files from Waymo Open Dataset. We extract them from the original tfrecord format. It contains 1000 segments in total, 798 segments for training and 202 for validatioin.
  • cipo/: this folder contains all the CIPO annotation. For the detail of the ground truth json files, please refer to CIPO Annotation
  • lane3d_1000/: this folder contains all 2D/3D lane annotation. In addition to train/val split, we provide several scene cases under lane3d_1000/test/. Each case contains segments selected from validation set for a special theme. And we provide corresponding image name in each lane3d_1000/test/1000_XXX.txt For the detail of the ground truth json files, please refer to Lane Annotation
  • lane3d_300/: this folder contains a tiny set from lane3d_1000/. We provide this set for those users whose computation resource is limited. It contains 300 sequence in total, 240 for training and 60 for validation.
  • scene: this folder contains all scene annotation. It only has one json file. For the detail of json file, please refer to CIPO Annotation