Argoverse 2 Map Change

The Argoverse 2 Map Change Dataset is a collection of 1,000 scenarios with ring camera imagery, lidar, and HD maps. Two hundred of the scenarios include changes in the real-world environment that are not yet reflected in the HD map, such as new crosswalks or repainted lanes. By sharing a map dataset that labels the instances in which there are discrepancies with sensor data, we encourage the development of novel methods for detecting out-of-date map regions.

The Map Change Dataset does not include 3D object annotations (which is a point of differentiation from the Argoverse 2 Sensor Dataset). Instead, it includes temporal annotations that indicate whether there is a map change within 30 meters of the autonomous vehicle at a particular timestamp. Additionally, the scenarios tend to be longer than the scenarios in the Sensor Dataset. To avoid making the dataset excessively large, the bitrate of the imagery is reduced.

Source: Overview | Argoverse 2

Image Source: Overview | Argoverse 2