{"url":"/dataset/apollocar3d","name":"ApolloCar3D","full_name":null,"description_markdown":"**ApolloCar3DT** is a dataset that contains 5,277 driving images and over 60K car instances, where each car is fitted with an industry-grade 3D CAD model with absolute model size and semantically labelled keypoints. This dataset is above 20 times larger than PASCAL3D+ and KITTI, the current state-of-the-art. \r\n\r\nSource: [ApolloCar3D: A Large 3D Car Instance Understanding Benchmark for Autonomous Driving](https://arxiv.org/pdf/1811.12222v2.pdf)\r\nImage Source: [http://apolloscape.auto/car_instance.html](http://apolloscape.auto/car_instance.html)","description_withheld":null,"homepage":"http://apolloscape.auto/car_instance.html","introduced_date":null,"introduced_date_note":null,"introduced_by":{"paper":"/paper/apollocar3d-a-large-3d-car-instance","title":"ApolloCar3D: A Large 3D Car Instance Understanding Benchmark for Autonomous Driving","first_author":"Xibin Song","url":null},"license":{"name":"Custom (non-commercial)","url":"http://apolloscape.auto/car_instance.html#to_dataset_href"},"modalities":[{"name":"Images","url":"/datasets/modality/images"}],"tasks":[{"name":"Pose Estimation","url":"/task/pose-estimation","datasets_with_task":"/datasets/task/pose-estimation"},{"name":"Autonomous Vehicles","url":"/task/autonomous-vehicles","datasets_with_task":"/datasets/task/autonomous-vehicles"},{"name":"3D Reconstruction","url":"/task/3d-reconstruction","datasets_with_task":"/datasets/task/3d-reconstruction"},{"name":"Autonomous Driving","url":"/task/autonomous-driving","datasets_with_task":"/datasets/task/autonomous-driving"},{"name":"Keypoint Detection","url":"/task/keypoint-detection","datasets_with_task":"/datasets/task/keypoint-detection"},{"name":"6D Pose Estimation","url":"/task/6d-pose-estimation-1","datasets_with_task":"/datasets/task/6d-pose-estimation-1"},{"name":"3D Pose Estimation","url":"/task/3d-pose-estimation","datasets_with_task":"/datasets/task/3d-pose-estimation"},{"name":"6D Pose Estimation using RGB","url":"/task/6d-pose-estimation","datasets_with_task":"/datasets/task/6d-pose-estimation"},{"name":"3D Shape Reconstruction","url":"/task/3d-shape-reconstruction","datasets_with_task":"/datasets/task/3d-shape-reconstruction"},{"name":"Vehicle Pose Estimation","url":"/task/vehicle-pose-estimation","datasets_with_task":"/datasets/task/vehicle-pose-estimation"},{"name":"3D Shape Reconstruction From A Single 2D Image","url":"/task/3d-shape-reconstruction-from-a-single-2d","datasets_with_task":"/datasets/task/3d-shape-reconstruction-from-a-single-2d"},{"name":"3D Car Instance Understanding","url":"/task/3d-car-instance-understanding","datasets_with_task":"/datasets/task/3d-car-instance-understanding"},{"name":"Vehicle Key-Point and Orientation Estimation","url":"/task/vehicle-key-point-and-orientation-estimation","datasets_with_task":"/datasets/task/vehicle-key-point-and-orientation-estimation"},{"name":"Car Pose Estimation","url":"/task/car-pose-estimation","datasets_with_task":"/datasets/task/car-pose-estimation"}],"languages":[],"variants":["ApolloCar3D"],"data_loaders":[{"repo":"https://github.com/cersar/3D_detection","url":"https://arxiv.org/abs/1612.00496","frameworks":["tf"]}],"num_papers_in_archive":17,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/car-pose-estimation-on-apollocar3d","task":"Car Pose Estimation","dataset_variant":"ApolloCar3D","rows":3,"metrics":["Detection Rate"],"first_row_in_archive_order":{"model":"Zauss et al.","paper":"/paper/keypoint-communities","metrics":{"Detection Rate":"91.9"},"code_links":[{"title":"duncanzauss/keypoint_communities","url":"https://github.com/duncanzauss/keypoint_communities"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/3d-car-instance-understanding-on-apollocar3d","task":"3D Car Instance Understanding","dataset_variant":"ApolloCar3D","rows":2,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"BAAM","paper":"/paper/baam-monocular-3d-pose-and-shape","metrics":{"A3DP":"22.85"},"code_links":[{"title":"gywns6287/baam","url":"https://github.com/gywns6287/baam"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/autonomous-vehicles-on-apollocar3d","task":"Autonomous Vehicles","dataset_variant":"ApolloCar3D","rows":2,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"BAAM","paper":"/paper/baam-monocular-3d-pose-and-shape","metrics":{"A3DP":"22.85"},"code_links":[{"title":"gywns6287/baam","url":"https://github.com/gywns6287/baam"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/3d-pose-estimation-on-apollocar3d","task":"3D Pose Estimation","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/3d-reconstruction-on-apollocar3d","task":"3D Reconstruction","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/3d-shape-reconstruction-from-a-single-2d","task":"3D Shape Reconstruction From A Single 2D Image","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/3d-shape-reconstruction-on-apollocar3d","task":"3D Shape Reconstruction","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/6d-pose-estimation-on-apollocar3d","task":"6D Pose Estimation","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/6d-pose-estimation-using-rgb-on-apollocar3d","task":"6D Pose Estimation using RGB","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/autonomous-driving-on-apollocar3d","task":"Autonomous Driving","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/keypoint-detection-on-apollocar3d","task":"Keypoint Detection","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/pose-estimation-on-apollocar3d","task":"Pose Estimation","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/vehicle-key-point-and-orientation-estimation","task":"Vehicle Key-Point and Orientation Estimation","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/vehicle-pose-estimation-on-apollocar3d","task":"Vehicle Pose Estimation","dataset_variant":"ApolloCar3D","rows":1,"metrics":["A3DP"],"first_row_in_archive_order":{"model":"GSNet","paper":"/paper/gsnet-joint-vehicle-pose-and-shape","metrics":{"A3DP":"20.21"},"code_links":[{"title":"lkeab/gsnet","url":"https://github.com/lkeab/gsnet"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/baam-monocular-3d-pose-and-shape","title":"BAAM: Monocular 3D Pose and Shape Reconstruction With Bi-Contextual Attention Module and Attention-Guided Modeling","date":"2023-01-01","rows_on_this_dataset":2,"code_links":1,"syntology":null},{"paper":"/paper/keypoint-communities","title":"Keypoint Communities","date":"2021-10-03","rows_on_this_dataset":1,"code_links":1,"syntology":null},{"paper":"/paper/openpifpaf-composite-fields-for-semantic","title":"OpenPifPaf: Composite Fields for Semantic Keypoint Detection and Spatio-Temporal Association","date":"2021-03-03","rows_on_this_dataset":1,"code_links":6,"syntology":null},{"paper":"/paper/gsnet-joint-vehicle-pose-and-shape","title":"GSNet: Joint Vehicle Pose and Shape Reconstruction with Geometrical and Scene-aware Supervision","date":"2020-07-26","rows_on_this_dataset":13,"code_links":1,"syntology":null},{"paper":"/paper/convolutional-pose-machines","title":"Convolutional Pose Machines","date":"2016-01-30","rows_on_this_dataset":1,"code_links":50,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":4,"samples_ran":1,"samples_unverified":3,"pointer_only_for_licence":3,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":1,"samples_harvested":4,"samples_ran":1,"samples_unverified":3,"pointer_only_for_licence":3,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}