V2X-Sim

Introduction

V2X-Sim is a Comprehensive Synthetic Multi-agent Perception Dataset.
You can find more information on its website.
Download links of V2X-Sim dataset can be found on the download page.
Note: The CoPerception codebase currently only supports V2X-Sim 2.0.

File Structure

V2X-Sim Follows the same file structure as the Nuscenes dataset.

V2X-Sim
├── maps # images for the map of one of the towns
├── sweeps # sensor data
|   ├── LIDAR_TOP_id_0 # top lidar data for the top camera, agent 0 (RSU)
|   ├── LIDAR_TOP_id_1 # top lidar data for the top camera, agent 1
|   ├── LIDAR_TOP_id_2 # top lidar data for the top camera, agent 2
|   ...
├── v2.0 # metadata
|   ├── scene.json # metadata for all the scenes
|   ├── sample.json # metadata for each sample, organized like linked-list
|   ├── sample_annotation.json # sample annotation metadata for each scene
|   ...

Data Preparation

V2X-Sim dataset needs to be preprocessed before running our example tasks.
Currently, 3 tasks are supported:

  • det: detection
  • seg: semantic segmentation
  • track: tracking

The preprocessed dataset is also provided on the download page.
If you would like to do it by your self, please follow these steps:

Data creation steps:

  1. cd into either of the directories of these tasks in tools/
  2. Open Makefile in your text editor
  3. Change the required arguments of task create_data based on your needs
  4. Run make create_data