Automotive
Zenseact Open Dataset
Long-range driving perception and multi-task learning
European driving collection with annotated keyframes, short sequences and longer drives, including camera, LiDAR, navigation and subset-specific radar data.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Automotive
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 8
- Ground truth
- Available
- Calibration
- Parameters Only
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 6DoF | GNSS / INS | OxTS logged navigation solution · OxTS RT3000 | Not reported | 100 Hz | Unknown |
Reference provenance
Derived
|
|
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Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Parameters Only
- Processed parameters
- Available
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Parameters only
Processed calibration parameters are reported, but raw calibration data is not reported.
Notes
Released per-frame sensor parameters/extrinsics, including later radar transforms. Complete raw calibration recordings and empirical release-wide accuracy remain unknown.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Frames (100k keyframes), Sequences (1,473 short clips) and Drives (29 longer drives) differ in sensor windows, duration and annotations. They are not additive homogeneous recording counts.
Radar is a January 2025 addition for Sequences/Drives only. Merged LiDAR clouds are documented near 9 Hz and images at 10.1 Hz; rounded paper frequencies do not define uniform exact timing.
OxTS reference poses reuse released navigation inputs. Device position/orientation specifications are not validated dataset-wide errors; native IMU rates and consumer device counts/topology remain unknown.
Anonymized images and task-specific taxonomies affect training/evaluation. Official access uses an application/shared link or published torrents; complete raw calibration and independent timing accuracy remain unverified.
Cameras
Camera 1
- Model
- Not reported
- Setup
- Fisheye
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 3848 x 2168
- Rate
- 10.1 Hz
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- One central image per Frames item; continuous 10.1 Hz JPEGs in Sequences/Drives. Resolution is 3848x2168; anonymization and image formats vary by subset.
IMUs
OxTS integrated IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
Consumer-grade vehicle IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
OxTS RT3000
- Model or name
- OxTS RT3000
- Count
- 1
- Rate
- 100 Hz
- GNSS type
- GPS_IMU
- Position output
- Available
- Velocity output
- Available
- Heading output
- Available
GNSS 2
- Model or name
- Not reported
- Count
- 1
- Rate
- 1 Hz
- GNSS type
- STANDARD
- Position output
- Available
- Velocity output
- Not reported
- Heading output
- Not reported
LiDAR
Velodyne VLS128
- Model or name
- Velodyne VLS128
- Count
- 1
- Dimensions
- 3
- Rate
- 9 Hz
- Channels
- 128
- Range
- Not reported
Velodyne VLP16
- Model or name
- Velodyne VLP16
- Count
- 2
- Dimensions
- 3
- Rate
- 9 Hz
- Channels
- 16
- Range
- Not reported
Radar
Continental ARS513 B1
- Count
- Not reported
- Released data
- Point detections / point clouds
- Frame rate
- 16.666667 Hz
- Doppler velocity
- Available
- Elevation angle
- Available
- Configured range
- Not reported
- Field of view
- Not reported
- File format
- NumPy point clouds
- Notes
- Added January 2025; maintained documentation gives 60 ms per point cloud. Physical unit count is not quantified. Range/validity/mode fields vary with speed; absent from Frames.
Additional sensors
Other sensor
- Name
- Vehicle control signals
- Count
- 1
- Rate
- 100 Hz
- Notes
- Released Sequences/Drives steering angle, accelerator/brake ratios and turn indicators at 100 Hz. Processed vehicle state, not a physical encoder count.
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- GeoJSON keyframe lane/road masks, lane instance IDs, 2D/3D cuboids, hierarchical objects/signs and surface-condition labels
- Class count
- Not reported
Semantic segmentation
Available
Instance segmentation
Available
Object detection
Available
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
@misc{alibeigi2023zenseactopendataset,
author = {{Mina Alibeigi} and {William Ljungbergh} and {Adam Tonderski} and {Georg Hess} and {Adam Lilja} and {Carl Lindström} and {Daria Motorniuk} and {Junsheng Fu} and {Jenny Widahl} and {Christoffer Petersson}},
title = {Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous driving},
year = {2023},
eprint = {2305.02008},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2305.02008v2}
}Dataset corrections
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