Datasets › ApolloScape
ApolloScape
ApolloScape is a large dataset consisting of over 140,000 video frames (73 street scene videos) from various locations in China under varying weather conditions. Pixel-wise semantic annotation of the recorded data is provided in 2D, with point-wise semantic annotation in 3D for 28 classes. In addition, the dataset contains lane marking annotations in 2D.
Source: A2D2: Audi Autonomous Driving Dataset Image Source: https://arxiv.org/pdf/1803.06184.pdf
Benchmarks archive 2025-07-28
All 4 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.
| First row (archive order) | Paper | Code | ||||
|---|---|---|---|---|---|---|
| Motion Segmentation | ApolloScape | Rule Based Accuracy 90 | Understanding Dynamic Scenes using Graph Convolution Networks | ma8sa/Undersrtanding-Dynamic-Scenes-using-MR-GCN | 5 | Compare |
| Semantic Segmentation | ApolloScape | ERFNet-IntRA-KD (ours) mIoU 43.2 | Inter-Region Affinity Distillation for Road Marking Segmentation | cardwing/Codes-for-IntRA-KD | 2 | Compare |
| Trajectory Prediction | ApolloScape | SpectralCows ADE 0.005 | Forecasting Trajectory and Behavior of Road-Agents Using... | — | 2 | Compare |
| Image Inpainting | ApolloScape | DVI MAE 6.135 | DVI: Depth Guided Video Inpainting for Autonomous Driving | ApolloScapeAuto/dataset-api +1 | 1 | Compare |
Papers archive 2025-07-28
5 shown of 5 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 74. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.
| Date | Samples run Syntology | |||
|---|---|---|---|---|
| VREM-FL: Mobility-Aware Computation-Scheduling Co-Design for Vehicular Federated Learning | 1 | 1 | 30 Nov 2023 | not harvested |
| PRANK: motion Prediction based on RANKing | 0 | 1 | 22 Oct 2020 | not harvested |
| DVI: Depth Guided Video Inpainting for Autonomous Driving | 2 | 1 | 17 Jul 2020 | ran 2 of 10 samples (8 unverified) |
| Understanding Dynamic Scenes using Graph Convolution Networks | 1 | 5 | 9 May 2020 | not harvested |
| Inter-Region Affinity Distillation for Road Marking Segmentation | 1 | 1 | 11 Apr 2020 | ran 0 of 4 samples (4 unverified) |
Dataset loaders archive 2025-07-28
No loader listed in the archive.
Tasks archive 2025-07-28
License archive 2025-07-28
Modalities archive 2025-07-28
Languages archive 2025-07-28
No language tagged.
Variants archive 2025-07-28
- ApolloScape
1 variant name, as the archive lists them.
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