---
license: mit
task_categories:
- object-detection
size_categories:
- n<1K
---

# Carla-COCO-Object-Detection-Dataset

**COCO-Style Labelled Dataset for Object Detection in Carla Simulator**

This dataset contains images and publically accessible URLs for 1028 images, each 640x380 pixels.
The dataset is split into 249 test and 779 training examples.
Every image comes with an associated label .xml file in the pascal VOC format ([`./labels/`](https://github.com/yunusskeete/Carla-COCO-Object-Detection-Dataset/tree/master/labels) folder).
A MS COCO format of the dataset is available in the [`./train.json`](https://github.com/yunusskeete/Carla-COCO-Object-Detection-Dataset/blob/master/train.json) and [`./test.json`](https://github.com/yunusskeete/Carla-COCO-Object-Detection-Dataset/blob/master/test.json) files.
The dataset was collected in Carla Simulator, driving around in autopilot mode in various environments (Town01, Town02, Town03, Town04, Town05) and saving every i-th frame.
The labels where then automatically generated using the semantic segmentation information.

**Available classes are:**

* Automobile (Car, Truck)
* Bike
* Motorbike
* Traffic light
* Traffic sign

**Example image:**

![example image](https://github.com/yunusskeete/Carla-COCO-Object-Detection-Dataset/raw/master/images/train/Town01_011940.png)

**Example annotated image:**

![example image with annotations](https://github.com/yunusskeete/Carla-COCO-Object-Detection-Dataset/raw/master/Town01_011940_annotated.png)

## Dataset Structure
### Data Instances
A data point comprises an image file name, its publically accessible URL, and its object annotations.
```json
{
    "image_id": 14,
    "width": 640,
    "height": 380,
    "file_name": "Town01_001860.png",
    "url": "https: //github.com/yunusskeete/Carla-COCO-Object-Detection-Dataset/blob/master/images/train/Town01_001860.png",
    "objects": {
        "id": [1, 2],
        "area": [41650, 150],
        "bbox": [
            [201, 205, 238, 175],
            [363, 159, 6, 25]
        ],
        "category": [0, 3]
    }
}
```

### Data Fields
* **image_id**: the image id
* **width**: the image width
* **height**: the image height
* **objects**: a dictionary containing bounding box metadata for the objects present on the image
* **id**: the annotation id
* **area**: the area of the bounding box
* **bbox**: the object's bounding box (in the coco format)
* **category**: the object's category, with possible values including automobile (1), bike (2), motorbike (3), traffic_light (4) and traffic_sign (5)

## Contributions
This repo is a fork from [Carla-Object-Detection-Dataset](https://github.com/DanielHfnr/Carla-Object-Detection-Dataset).
Acknowledgements are made to [DanielHfnr](https://github.com/DanielHfnr) for the original data collection and dataset preparation.