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nuScenes

Introduced by Holger Caesar et al. in nuScenes: A multimodal dataset for autonomous driving26 Mar 2019 archive 2025-07-28

The nuScenes dataset is a large-scale autonomous driving dataset. The dataset has 3D bounding boxes for 1000 scenes collected in Boston and Singapore. Each scene is 20 seconds long and annotated at 2Hz. This results in a total of 28130 samples for training, 6019 samples for validation and 6008 samples for testing. The dataset has the full autonomous vehicle data suite: 32-beam LiDAR, 6 cameras and radars with complete 360° coverage. The 3D object detection challenge evaluates the performance on 10 classes: cars, trucks, buses, trailers, construction vehicles, pedestrians, motorcycles, bicycles, traffic cones and barriers.

Source: PointPainting: Sequential Fusion for 3D Object Detection

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 21 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)PaperCode
3D Object Detection nuScenes EA-LSS NDS 0.78 EA-LSS: Edge-aware Lift-splat-shot Framework for 3D BEV... hht1996ok/ea-bev 372 Compare
3D Multi-Object Tracking nuScenes MCTrack AMOTA 0.763 MCTrack: A Unified 3D Multi-Object Tracking Framework... megvii-research/mctrack 115 Compare
LIDAR Semantic Segmentation nuScenes DITR test mIoU 0.851 DINO in the Room: Leveraging 2D Foundation Models for 3D... VisualComputingInstitute/DITR 36 Compare
Trajectory Prediction nuScenes UniTraj (MTR) MinADE_5 0.96 UniTraj: A Unified Framework for Scalable Vehicle... vita-epfl/unitraj 34 Compare
3D Object Detection nuScenes Camera Only Far3D NDS 68.7 Far3D: Expanding the Horizon for Surround-view 3D Object... megvii-research/far3d 19 Compare
Bird's-Eye View Semantic Segmentation nuScenes PointBeV IoU veh - 224x480 - Vis filter. - 100x100 at 0.5 44.7 PointBeV: A Sparse Approach to BeV Predictions valeoai/pointbev 17 Compare
3D Object Detection nuscenes Camera-Radar SpaRC NDS 69.9 SpaRC: Sparse Radar-Camera Fusion for 3D Object Detection — 11 Compare
Semi-Supervised Semantic Segmentation nuScenes PLE (Voxel) mIoU (0.5% Labels) 58 Learning from Spatio-temporal Correlation for... halbielee/ple 11 Compare
3D Multi-Object Tracking nuscenes Camera-Radar SpaRC AMOTA 0.631 SpaRC: Sparse Radar-Camera Fusion for 3D Object Detection — 4 Compare
Trajectory Planning nuScenes AD-MLP Collision-3s 0.24 Rethinking the Open-Loop Evaluation of End-to-End... E2E-AD/AD-MLP 4 Compare
3D Semantic Segmentation nuScenes PTv2 mIoU 82.6% Point Transformer V2: Grouped Vector Attention and... Pointcept/Pointcept +1 3 Compare
Lane Detection nuScenes DSLP IoU 0.453 Learning to Predict Navigational Patterns from Partial... robin-karlsson0/dslp 3 Compare
HD semantic map learning nuScenes VectorMapNet Chamfer AP 53.7 VectorMapNet: End-to-end Vectorized HD Map Learning Mrmoore98/VectorMapNet_code +2 2 Compare
Motion Detection nuScenes FastFlowNet (Kitti) F1 (%) 92.9 Optical Flow Based Motion Detection for Autonomous Driving kamanphoebe/motiondetection 2 Compare
Object Detection nuScenes BIRANet(RGB+Radar) AP(l) 76.9 Radar+RGB Attentive Fusion for Robust Object Detection... RituYadav92/Radar-RGB-Attentive-Multimodal-Object-Detection 2 Compare
3D Multi-Object Tracking nuScenes Camera Only StreamPETR-Large AMOTA 65.3 Exploring Object-Centric Temporal Modeling for Efficient... exiawsh/streampetr +1 1 Compare
Instance Segmentation nuScenes TraDeS MOTA 68.2 Track to Detect and Segment: An Online Multi-Object Tracker JialianW/TraDeS 1 Compare
Monocular 3D Object Detection nuScenes LabelDistill NDS 55.3 LabelDistill: Label-guided Cross-modal Knowledge... sanmin0312/labeldistill 1 Compare
Motion Planning nuScenes GPT-Driver Collision 0.35 GPT-Driver: Learning to Drive with GPT pointscoder/gpt-driver 1 Compare
Online Vectorized HD Map Construction nuScenes Camera Only maptr-r18 Average mAP 45.9 MapTRv2: An End-to-End Framework for Online Vectorized... hustvl/maptr +1 1 Compare
Prediction Of Occupancy Grid Maps nuScenes TPVFormer04 mIoU 52.058 Tri-Perspective View for Vision-Based 3D Semantic... open-mmlab/mmdetection3d +2 1 Compare

Papers archive 2025-07-28

30 shown of 125 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 2,139. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
DINO in the Room: Leveraging 2D Foundation Models for 3D Segmentation 1 1 24 Mar 2025 not harvested
SpaRC: Sparse Radar-Camera Fusion for 3D Object Detection 0 3 29 Nov 2024 not harvested
Learning from Spatio-temporal Correlation for Semi-Supervised LiDAR Semantic Segmentation 1 2 9 Oct 2024 not harvested
MCTrack: A Unified 3D Multi-Object Tracking Framework for Autonomous Driving 1 1 23 Sep 2024 not harvested
RCBEVDet++: Toward High-accuracy Radar-Camera Fusion 3D Perception Network 0 1 8 Sep 2024 not harvested
GeoBEV: Learning Geometric BEV Representation for Multi-view 3D Object Detection 1 1 3 Sep 2024 not harvested
Do You Remember . . . the Future? Weak-to-Strong generalization in 3D Object Detection 1 1 3 Aug 2024 not harvested
Robust Multimodal 3D Object Detection via Modality-Agnostic Decoding and Proximity-based Modality Ensemble 1 1 27 Jul 2024 not harvested
Serialized Point Mamba: A Serialized Point Cloud Mamba Segmentation Model 0 1 17 Jul 2024 not harvested
SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds 1 1 16 Jul 2024 ran 5 of 10 samples (5 unverified; 10 pointer-only for licence)
LabelDistill: Label-guided Cross-modal Knowledge Distillation for Camera-based 3D Object Detection 1 1 14 Jul 2024 not harvested
SemanticFormer: Holistic and Semantic Traffic Scene Representation for Trajectory Prediction using Knowledge Graphs 1 1 30 Apr 2024 not harvested
SeaBird: Segmentation in Bird's View with Dice Loss Improves Monocular 3D Detection of Large Objects 1 1 29 Mar 2024 not harvested
RCBEVDet: Radar-camera Fusion in Bird's Eye View for 3D Object Detection 1 1 25 Mar 2024 not harvested
UniTraj: A Unified Framework for Scalable Vehicle Trajectory Prediction 1 1 22 Mar 2024 ran 5 of 5 samples (0 unverified; 5 pointer-only for licence)
LSK3DNet: Towards Effective and Efficient 3D Perception with Large Sparse Kernels 1 1 22 Mar 2024 not harvested
CR3DT: Camera-RADAR Fusion for 3D Detection and Tracking 1 1 22 Mar 2024 not harvested
OA-CNNs: Omni-Adaptive Sparse CNNs for 3D Semantic Segmentation 1 1 21 Mar 2024 not harvested
Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking 1 1 20 Mar 2024 not harvested
Unleashing HyDRa: Hybrid Fusion, Depth Consistency and Radar for Unified 3D Perception 1 4 12 Mar 2024 not harvested
Ray Denoising: Depth-aware Hard Negative Sampling for Multi-view 3D Object Detection 2 1 6 Feb 2024 ran 9 of 10 samples (1 unverified; 10 pointer-only for licence)
Point Transformer V3: Simpler, Faster, Stronger 3 1 15 Dec 2023 ran 7 of 11 samples (4 unverified)
FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation 2 2 7 Dec 2023 ran 14 of 19 samples (5 unverified; 18 pointer-only for licence)
PointBeV: A Sparse Approach to BeV Predictions 1 2 1 Dec 2023 not harvested
Leveraging Vision-Centric Multi-Modal Expertise for 3D Object Detection 1 1 24 Oct 2023 ran 3 of 4 samples (1 unverified)
Offline Tracking with Object Permanence 1 1 2 Oct 2023 not harvested
GPT-Driver: Learning to Drive with GPT 1 1 2 Oct 2023 ran 3 of 3 samples (0 unverified; 3 pointer-only for licence)
ClusterFusion: Leveraging Radar Spatial Features for Radar-Camera 3D Object Detection in Autonomous Vehicles 0 1 7 Sep 2023 not harvested
Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training 1 1 18 Aug 2023 not harvested
SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videos 1 1 18 Aug 2023 not harvested

The full list of 125 is in the JSON twin.

Dataset loaders archive 2025-07-28

open-mmlab/mmdetection3dopen-mmlab/mmdetection3dpytorch
Pointcept/Pointceptpytorch

2 loaders as listed in the archive; links are outbound and not re-checked here.

Tasks archive 2025-07-28

Object DetectionInstance Segmentation3D Object DetectionSemi-Supervised Semantic SegmentationTrajectory Prediction3D Semantic SegmentationLane DetectionMonocular 3D Object Detection3D Multi-Object TrackingWeather ForecastingLIDAR Semantic SegmentationBird's-Eye View Semantic SegmentationWeakly supervised Semantic SegmentationPrediction Of Occupancy Grid MapsTrajectory PlanningHD semantic map learningMotion DetectionMotion PlanningOnline Vectorized HD Map Construction

License archive 2025-07-28

Custom (CC BY-NC-SA 4.0 with exceptions for startups and research; separate commercial licenses)

Modalities archive 2025-07-28

Images3DPoint cloudTrackingLiDAR

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • nuScenes
  • nuScenes Camera Only
  • nuscenes Camera-Radar

3 variant names, as the archive lists them.

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