Categories_documentation.md

Unificated categories list

0:  "undefined"
1:  "vehicle.car"
2:  "vehicle.truck"
3:  "vehicle.bicycle"
4:  "vehicle.bus"
5:  "vehicle.motorcycle"
6:  "vehicle.emergency"
7:  "vehicle.other"
8:  "vehicle.ego"
9:  "pedestrian"
10: "animal"
11: "vegetation"
12: "road.drivable_surface"
13: "road.non_drivable_surface"
14: "building.obstacles"
15: "building.other" 

Description of categories

• undefined - undefined objects.
• vehicle.car - Vehicle designed primarily for personal use, e.g. sedans, hatch-backs, wagons, vans, mini-vans, SUVs and jeeps.
• vehicle.truck - Vehicles primarily designed to haul cargo including pick-ups, lorrys, trucks and semi-tractors.
• vehicle.bicycle - Human or electric powered 2-wheeled vehicle designed to travel at lower speeds either on road surface, sidewalks or bike paths.
• vehicle.bus - Vehicle designed primarily for public transport (buses, trams e.g)
• vehicle.motorcycle - Gasoline or electric powered 2-wheeled vehicle designed to move rapidly (at the speed of standard cars) on the road surface. This category includes all motorcycles, vespas and scooters.
• vehicle.emergency - Vehicles of all types of emergency services.
• vehicle.other - other possible vehicles or vehicles with undefined subcategory.
• vehicle.ego - The vehicle on which the cameras, radar and lidar are mounted, that is sometimes visible at the bottom of the image.
• pedestrian - all types of human.
• animal - All animals, e.g. cats, rats, dogs, deer, birds.
• vegetation - Any vegetation in the frame that is higher than the ground, including bushes, plants, potted plants, trees, etc. Only tall grass (> 20cm) is part of this, ground level grass is part of road.non_drivable_surface.
• road.drivable_surface - All paved or unpaved surfaces that a car can drive.
• road.non_drivable_surface - All other forms of horizontal ground-level structures that do not belong to any of driveable_surface, curb, sidewalk and terrain. Includes elevated parts of traffic islands, delimiters, rail tracks, stairs with at most 3 steps and larger bodies of water (lakes, rivers).
• building.obstacles - all man-made obstacles on the road
• building.other - all man-made building near the road.

Sorting dataset's categories into unificated categories list

Nuscenes dataset:

undefined:
    noise
    static.other
vehicle.car:
    vehicle.car
vehicle.truck:
    vehicle.truck
vehicle.bicycle:
    vehicle.bicycle
vehicle.bus:
    vehicle.bus.bendy
    vehicle.bus.rigid
vehicle.motorcycle:
    vehicle.motorcycle
vehicle.emergency:
    vehicle.emergency.ambulance
    vehicle.emergency.police
vehicle.other
    vehicle.construction
    vehicle.trailer
vehicle.ego
    vehicle.ego
pedestrian:
    human.pedestrian.adult
    human.pedestrian.child`
    human.pedestrian.construction_worker
    human.pedestrian.personal_mobility
    human.pedestrian.police_officer
    human.pedestrian.stroller
    human.pedestrian.wheelchair` 
animal:
    animal
vegetation:
    static.vegetation
road.drivable_surface:
    flat.driveable_surface
road.non_drivable_surface:
    flat.other
    flat.sidewalk
    flat.terrain
building.obstacles:
    movable_object.barrier
    movable_object.debris
    movable_object.pushable_pullable
    movable_object.trafficcone
building.other:
    static.manmade
    static_object.bicycle_rack

Level 5 dataset

undefined:
vehicle.car:
    car
vehicle.truck:
    truck
vehicle.bicycle:
    bicycle
vehicle.bus:
    bus
vehicle.motorcycle:
    motorcycle
vehicle.emergency:
    emergency_vehicles
vehicle.other:
    other_vehicle
vehicle.ego
pedestrian:
    pedestrian
animal:
    animal
vegetation:
road.drivable_surface:
road.non_drivable_surface:
building.obstacles:
building.other:

a2d2 dataset

undefined:
    Sky
    Blurred area
    Sidebars
    Grid structure
vehicle.car:
    Car 1
    Car 2
    Car 3
    Car 4
    VanSUV
    Car
vehicle.truck:
    Truck 1
    Truck 2
    Truck 3
    Truck
vehicle.bicycle:
    Bicycle 1
    Bicycle 2
    Bicycle 3
    Bicycle 4
    Bicycle
    Cyclist
vehicle.bus:
    Bus
vehicle.motorcycle:
    MotorBiker
    Motorcycle
vehicle.emergency:
    EmergencyVehicle
vehicle.other:
    Small vehicles 1
    Small vehicles 2
    Small vehicles 3
    Utility vehicle 1
    Utility vehicle 2
    Tractor
    UtilityVehicle
    Trailer
    CaravanTransporter
vehicle.ego:
        Ego car
pedestrian:
    Pedestrian 1
    Pedestrian 2
    Pedestrian 3
    Pedestrian
animal:
    Animals
    Animal
vegetation:
    Nature object
road.drivable_surface:
    Zebra crossing
    Slow drive area
    Dashed line
    RD normal street
    Parking area
    Speed bumper
    Painted driv. instr.
    Rain dirt
    Drivable cobblestone
road.non_drivable_surface:
    Non-drivable street
    RD restricted area
    Sidewalk
    Solid line
building.obstacles:
    Obstacles / trash
    Curbstone
    Road blocks
    Curbstone
building.other:
    Poles
    Traffic signal 1
    Traffic signal 2
    Traffic signal 3
    Traffic sign 1
    Traffic sign 2
    Traffic sign 3  
    Irrelevant signs 
    Electronic traffic
    Traffic guide obj.
    Signal corpus
    Buildings

Waymo dataset

undefined:
    UNDEFINED
vehicle.car:
    CAR
vehicle.truck:
    TRUCK
vehicle.bicycle:
    BICYCLE
    BICYCLIST
vehicle.bus:
vehicle.motorcycle:
    MOTORCYCLIST
    MOTORCYCLE
vehicle.emergency:
vehicle.other:
    OTHER_VEHICLE
vehicle.ego:
pedestrian:
    PEDESTRIAN
animal:
vegetation:
    VEGETATION
    TREE_TRUNK
road.drivable_surface:
    ROAD
    LANE_MARKER
road.non_drivable_surface:
    WALKABLE
    OTHER_GROUND
    SIDEWALK
building.obstacles:
    CURB
    CONSTRUCTION_CONE
building.other:
    BUILDING
    POLE
    SIGN
    TRAFFIC_LIGHT

Waymo dataset bounding boxes

undefined:
    TYPE_UNSET
    TYPE_OTHER
vehicle.bicycle:
    TYPE_CYCLIST
vehicle.other:
    TYPE_VEHICLE
pedestrian:
    TYPE_PEDESTRIAN