目錄
1 數據集下載
之前博客寫 了如何使用YOLOv3訓練自動駕駛數據集KITTI，它的圖片尺寸普遍爲1242x375（大約)，且總共有提供標籤的7481張訓練集，還有未提供標籤的7518張測試集，用於官方評測算法。如果我們自己要評測算法，需要從7481張訓練集中劃分一部分作爲驗證集，這樣訓練的數據又減少了。而BDD00K數據集總共擁有110k張圖片，分爲100k和10k兩個部分。其中100k的部分提供有70k的帶標籤訓練集數據和10k帶標籤的驗證集數據，此外還有20k未提供標籤的數據用於官方評測算法。10k的部分只提供了圖片，目前沒有提供標籤。數據集下載可以去官方網址，但是需要用教育郵箱註冊賬號，而且經常會出現下載到一半被禁止下載的提示，比較麻煩。這裏找到了一個很好的下載地址，不需要賬號，且不會出現下載中斷的問題！
地址如下：
- BDD00K所有數據（包括可行駛區域，分割，原始圖片，對象檢測標籤）的下載地址：
- BDD00K所有圖片的下載地址：
- BDD00K所有圖片標籤的下載地址：
這裏，我只用到了bdd100k_labels.zip和bdd100k_images.zip，但是我把bdd100k_drivable_maps.zip和bdd100k_seg.zip也下載了，以防後面使用，如下：
2 數據集簡單分析
解壓bdd100k_labels.zip和bdd100k_images.zip，會出現兩個bdd100k文件夾，這兩個文件夾內分別存儲了images和labels兩個子文件夾，其中images文件夾內存放了1280x720的圖片，labels存放了json格式的標籤文件，我們把兩個子文件夾合併到一個bdd100k文件夾內，方便查看和處理。文件目錄樹如下：
├── bdd100k
│ ├── images
│ │ ├── 100k
│ │ │ ├── test # 20k測試集圖片
│ │ │ ├── train # 70k訓練集圖片
│ │ │ └── val # 10k驗證集圖片
│ │ └── 10k
│ │ ├── test # 2k測試集圖片
│ │ ├── train # 7k測試集圖片
│ │ └── val # 1k驗證集圖片
│ ├── labels
│ │ └── 100k
│ │ ├── train # 70k訓練集標籤
│ │ ├── val # 10k驗證集標籤，這裏沒有提供20k測試集標籤
-
常見的自動駕駛數據集比較
![在這裏插入圖片描述]()
-
道路目標檢測各類物體數量分佈
BDD100K的道路目標檢測部分總共有10類：bus，traffic light，traffic sign，person，bike，truck，moter，car，train，rider。各類對象數目統計分佈如下：
![在這裏插入圖片描述]()
3 標籤文件分析
隨便查看一張圖片images/100k/val/b1d9e136-9ab25cb3.jpg，如下：
並打開labels/100k/val/b1d9e136-9ab25cb3,json查看其內容，如下：
{
"name": "b1d9e136-9ab25cb3",
"frames": [
{
"timestamp": 10000, //表示在時間點爲10000下的圖片
"objects": [
{
"category": "traffic sign", //存在一個traffic sign類別的對象
"id": 0,
"attributes": {
"occluded": false,
"truncated": false,
"trafficLightColor": "none" //交通標誌的顏色
},
"box2d": { //左上角和右下角的四個座標值
"x1": 373.484793,
"y1": 218.719691,
"x2": 418.816665,
"y2": 234.533134
}
},
{
"category": "person", //存在一個person類別的對象
"id": 1,
"attributes": {
"occluded": false,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 887.948822,
"y1": 329.413797,
"x2": 903.762266,
"y2": 369.474519
}
},
{
"category": "person", //存在一個person類別的對象
"id": 2,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 355.562892,
"y1": 309.383434,
"x2": 368.213647,
"y2": 326.251107
}
},
{
"category": "person", //存在一個person類別的對象
"id": 3,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 258.573769,
"y1": 295.678449,
"x2": 282.82105,
"y2": 347.335698
}
},
{
"category": "car", //存在一個car類別的對象
"id": 4,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 786.742784,
"y1": 336.793403,
"x2": 806.773146,
"y2": 368.420289
}
},
{
"category": "car", //存在一個car類別的對象
"id": 5,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 744.573602,
"y1": 331.522255,
"x2": 797.285079,
"y2": 378.962585
}
},
{
"category": "car", //存在一個car類別的對象
"id": 6,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 718.217861,
"y1": 316.763042,
"x2": 755.115896,
"y2": 378.962586
}
},
{
"category": "car", //存在一個car類別的對象
"id": 7,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 459.931618,
"y1": 317.81727,
"x2": 506.31772,
"y2": 362.094912
}
},
{
"category": "car", //存在一個car類別的對象
"id": 8,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 348.183284,
"y1": 319.92573,
"x2": 375.593253,
"y2": 368.420289
}
},
{
"category": "car", //存在一個car類別的對象
"id": 9,
"attributes": {
"occluded": false,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 365.050957,
"y1": 299.895368,
"x2": 484.178899,
"y2": 390.559112
}
},
{
"category": "car", //存在一個car類別的對象
"id": 10,
"attributes": {
"occluded": false,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 467.311224,
"y1": 274.593858,
"x2": 751.953209,
"y2": 523.392035
}
},
{
"category": "car", //存在一個car類別的對象
"id": 11,
"attributes": {
"occluded": false,
"truncated": true,
"trafficLightColor": "none"
},
"box2d": {
"x1": 1.341755,
"y1": 296.732679,
"x2": 323.936004,
"y2": 521.283577
}
},
{
"category": "car", //存在一個car類別的對象
"id": 12,
"attributes": {
"occluded": false,
"truncated": true,
"trafficLightColor": "none"
},
"box2d": {
"x1": 872.135381,
"y1": 236.641594,
"x2": 1278.013765,
"y2": 684.68916
}
},
//道路可行駛區域的標籤
{
"category": "area/drivable",
"id": 13,
"attributes": {},
"poly2d": [
[
379.295348,
522.084962,
"L"
],
[
833.816375,
531.298227,
"L"
],
[
978.157509,
649.535114,
"L"
],
[
760.110261,
631.108585,
"C"
],
[
499.06778,
611.146514,
"C"
],
[
257.987372,
628.037498,
"C"
],
[
379.295348,
522.084962,
"L"
]
]
},
//可選擇的行駛區域的標籤
{
"category": "area/alternative",
"id": 14,
"attributes": {},
"poly2d": [
[
763.318996,
386.437234,
"L"
],
[
755.503629,
448.378849,
"L"
],
[
873.740518,
532.83377,
"L"
],
[
866.256426,
421.87471,
"L"
],
[
763.318996,
386.437234,
"L"
]
]
},
{
"category": "area/alternative",
"id": 15,
"attributes": {},
"poly2d": [
[
810.568964,
374.624742,
"L"
],
[
867.943924,
388.124733,
"L"
],
[
871.318922,
415.124715,
"L"
],
[
776.818987,
381.374738,
"L"
],
[
810.568964,
374.624742,
"L"
]
]
},
//單一的白色車道線
{
"category": "lane/single white",
"id": 16,
"attributes": {
"direction": "parallel",
"style": "dashed"
},
"poly2d": [
[
472.553479,
437.976395,
"L"
],
[
429.011966,
468.711581,
"L"
],
[
234.355791,
627.51004,
"L"
]
]
},
//單一的白色車道線
{
"category": "lane/single white",
"id": 17,
"attributes": {
"direction": "parallel",
"style": "dashed"
},
"poly2d": [
[
476.395377,
423.889435,
"L"
],
[
412.363741,
464.869683,
"L"
],
[
210.023769,
627.51004,
"L"
]
]
},
//單一的白色車道線
{
"category": "lane/single white",
"id": 18,
"attributes": {
"direction": "parallel",
"style": "solid"
},
"poly2d": [
[
749.17015,
462.308417,
"L"
],
[
984.806573,
654.403328,
"L"
]
]
},
//單一的白色車道線
{
"category": "lane/single white",
"id": 19,
"attributes": {
"direction": "parallel",
"style": "solid"
},
"poly2d": [
[
750.450783,
441.818294,
"L"
],
[
1046.276945,
659.525859,
"L"
]
]
},
//單一的白色車道線
{
"category": "lane/single white",
"id": 20,
"attributes": {
"direction": "parallel",
"style": "dashed"
},
"poly2d": [
[
749.17015,
380.347922,
"L"
],
[
874.672158,
414.925006,
"L"
]
]
},
//單一的白色車道線
{
"category": "lane/single white",
"id": 21,
"attributes": {
"direction": "parallel",
"style": "dashed"
},
"poly2d": [
[
795.272928,
371.383493,
"L"
],
[
877.233423,
390.592984,
"L"
]
]
},
//道路路邊的車道線
{
"category": "lane/road curb",
"id": 22,
"attributes": {
"direction": "parallel",
"style": "solid"
},
"poly2d": [
[
829.850012,
371.383493,
"L"
],
[
882.355954,
380.347922,
"L"
]
]
},
//道路路邊的車道線
{
"category": "lane/road curb",
"id": 23,
"attributes": {
"direction": "parallel",
"style": "solid"
},
"poly2d": [
[
307.351856,
366.260962,
"L"
],
[
352.174002,
361.138431,
"L"
]
]
}
]
}
],
"attributes": {
"weather": "undefined",
"scene": "city street",
"timeofday": "daytime"
}
}
```