the comma.ai driving dataset

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本研究介绍了一个基于实际驾驶数据集的驾驶模拟器学习项目。该数据集包含超过7小时的高速公路驾驶记录，可用于训练车辆转向预测及图像生成模型。通过两个实验展示了如何使用此数据集进行机器学习。

from：http://research.comma.ai/

View on GitHubcommaai/research

the people's comma

the paper

Learning a Driving Simulator

the comma.ai driving dataset

7 and a quarter hours of largely highway driving. Enough to train what we had inBloomberg.

Examples

We present two Machine Learning Experiments to showpossible ways to use this dataset:

Training a steering angle predictor

Training a generative image model

Downloading the dataset

./get_data.sh

or get it at archive.org

45 GB compressed, 80 GB uncompressed

dog/2016-01-30--11-24-51 (7.7G)
dog/2016-01-30--13-46-00 (8.5G)
dog/2016-01-31--19-19-25 (3.0G)
dog/2016-02-02--10-16-58 (8.1G)
dog/2016-02-08--14-56-28 (3.9G)
dog/2016-02-11--21-32-47 (13G)
dog/2016-03-29--10-50-20 (12G)
emily/2016-04-21--14-48-08 (4.4G)
emily/2016-05-12--22-20-00 (7.5G)
frodo/2016-06-02--21-39-29 (6.5G)
frodo/2016-06-08--11-46-01 (2.7G)

Dataset referenced on this page is copyrighted by comma.ai and published under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License. This means that you must attribute the work in the manner specified by the authors, you may not use this work for commercial purposes and if you alter, transform, or build upon this work, you may distribute the resulting work only under the same license.

Dataset structure

The dataset consists of 10 videos clips of variable size recorded at 20 Hzwith a camera mounted on the windshield of an Acura ILX 2016. In parallel to the videoswe also recorded some measurements such as car's speed, acceleration,steering angle, GPS coordinates, gyroscope angles. See the full log list here.These measurements are transformed into a uniform 100 Hz time base.

The dataset folder structure is the following:

+-- dataset
|   +-- camera
|   |   +-- 2016-04-21--14-48-08
|   |   ...
|   +-- log
|   |   +-- 2016-04-21--14-48-08
|   |   ...

All the files come in hdf5 format and are named with the time they were recorded.The camera dataset has shapenumber_frames x 3 x 160 x 320 and uint8 type.One of thelog hdf5-datasets is called cam1_ptr and addresses the alignmentbetween camera frames and the other measurements.