We’ve divided the dataset into train, validation, and test sets of 16,000, 2,000, and 2,000 scenarios. The dataset is designed to support research into self-supervised learning in the lidar domain, as well as point cloud forecasting. It does not include imagery or 3D annotations. The Argoverse 2 Lidar Dataset is a collection of 20,000 scenarios with lidar sensor data, HD maps, and ego-vehicle pose. ![]() When referencing these datasets or any of the materials we provide, please use the following , The Argoverse 2 datasets are described in our publications, Argoverse 2 and Trust, but Verify, in the NeurIPS 2021 dataset track. Argoverse 2 datasets also share a common API, which allows users to easily access and visualize the data and maps. Argoverse 2 Map Change Dataset: contains 1,000 scenarios, 200 of which depict real-world HD map changesĪrgoverse 2 datasets share a common HD map format that is richer than the HD maps in Argoverse 1.Argoverse 2 Lidar Dataset: contains 20,000 unannotated lidar sequences.This dataset improves upon the Argoverse 1 Motion Forecasting Dataset. Argoverse 2 Motion Forecasting Dataset: contains 250,000 scenarios with trajectory data for many object types.This dataset improves upon the Argoverse 1 3D Tracking dataset. ![]()
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