Keymotek/simData-Dataset

Dataset Card for Dataset Name

SimData-NuScenes is a large-scale synthetic dataset generated from high-fidelity simulation environments using aiSim.

By leveraging aiSim's advanced physics engine and deterministic sensor modeling, we ensure that every frame maintains high-quality visual fidelity and physical accuracy. This makes the dataset particularly effective for training and validating perception algorithms where precision is paramount.

The dataset follows the NuScenes format (v1.0-custom) and covers diverse environments including highways, complex urban areas, and parking lots across different geographic styles (US, Europe, Japan).

Dataset Details

Key Features

• Format: Fully compatible with the nuscenes-devkit.
• Scale: Contains 45 scenes derived from 15 distinct maps.
• Diversity: Covers Highway, Urban, and Parking scenarios.
• Volume: Approximately 18,000+ frames per sensor (Camera/LiDAR).

Sensor Layout

Overview

6 annotated surround-view camera images and BEV ground truth with LiDAR point clouds.

Dataset Statistics (统计数据)

The dataset metadata is organized as follows:

Metric	Count
Total Logs/Scenes	45
Maps	15
Annotated Samples (Keyframes)	1,796
Sample Data (Total Frames)	215,472
Total Annotations	64,190
Ego Poses	17,956
Categories	10
Sensors	12 (Cameras, LiDARs, Radar)

Object Categories (标注类别)

The dataset includes 3D bounding box annotations for the following 10 classes:

1. Car
2. Truck
3. Bus
4. Van
5. Trailer
6. Pedestrian
7. Motorcycle
8. Bicycle
9. TrafficCone
10. Barricade

Scenarios & Maps (场景与地图详情)

The dataset is constructed from 15 high-definition maps, categorized into three main environment types. Each map contains approximately 3 scenarios.

🛣️ Highway Environments

Map Name	Description
Highway_US-CA_SR85Sunnyvale	US Highway scenario (SR85), sunny/clear weather.
Highway_US-CA_Construction	Highway construction zone with barriers and cones.
Highway_HU_Godollo	European style highway environment.
Highway_US-CA_230Junipero	Junipero Serra West Walley highway section.

🏙️ Urban Environments

Map Name	Description
Urban_US-CA_SanFranciscoCity	Dense urban downtown environment (SF style).
Urban_US-CA_SF_OuterSunset	Residential/Suburban area in San Francisco.
Urban_HU_R7BudafokRoundabout	European urban scene featuring a roundabout.
Urban_Synth_USCity	Synthetic US city with crowded traffic (US_CrowdedCity).
Urban_Synth_USCrossingStreet	Urban intersection and crossing scenarios.
Urban_Synth_JapanCity	Japanese style urban environment (LHT - Left Hand Traffic).
Parking_Synth_UrbanSpots_LHT	Urban street parking scenarios.

🅿️ Parking Environments

Map Name	Description
Parking_US-CA_SanJoseMall	Indoor garage environment.
Parking_US-CA_SanJoseAlamitos	Outdoor parking lot scenario.

How to Use (使用方法)

Since this dataset follows the NuScenes schema, you can use the standard nuscenes-devkit to load and visualize the data.

Installation

pip install nuscenes-devkit