{
  "name": "nuScenes extensions: release date, content added and install location",
  "description": "Compares the extensions published around the nuScenes 3D dataset: when each was released, what it adds, and where the devkit README says to extract it. Compiled from the nuScenes devkit README and changelog.",
  "page": "https://casrai.org/guides/nuscenes",
  "publisher": "CASRAI",
  "license": "https://creativecommons.org/licenses/by/4.0/",
  "dateModified": "2026-11-12T20:26:51Z",
  "temporalCoverage": "2019/2021",
  "spatialCoverage": null,
  "columns": [
    {
      "name": "Component",
      "unit": "",
      "description": ""
    },
    {
      "name": "Release (per README)",
      "unit": "",
      "description": ""
    },
    {
      "name": "What it adds",
      "unit": "",
      "description": ""
    },
    {
      "name": "Extract or use location",
      "unit": "",
      "description": ""
    }
  ],
  "rows": [
    {
      "Component": "Map expansion",
      "Release (per README)": "July 2019",
      "What it adds": "11 semantic layers (crosswalk, sidewalk, traffic lights, stop lines, lanes and others)",
      "Extract or use location": "basemap, expansion and prediction folders into the nuScenes maps folder"
    },
    {
      "Component": "CAN bus expansion",
      "Release (per README)": "February 2020",
      "What it adds": "Low-level vehicle data: route, IMU, pose, steering angle feedback, brakes, gear position, wheel speeds and more",
      "Extract or use location": "can_bus folder in the nuScenes root"
    },
    {
      "Component": "Prediction challenge",
      "Release (per README)": "March 2020 (code)",
      "What it adds": "Challenge code using map expansion v1.2 and CoverNet trajectory sets",
      "Extract or use location": "Map expansion v1.2 plus downloaded trajectory sets"
    },
    {
      "Component": "nuImages",
      "Release (per README)": "Code v0.1 April 2020; v1.0 August 2020",
      "What it adds": "Stand-alone image dataset with the same sensor setup as nuScenes",
      "Extract or use location": "/data/sets/nuimages (metadata and samples required, sweeps optional)"
    },
    {
      "Component": "nuScenes-lidarseg",
      "Release (per README)": "August 2020",
      "What it adds": "Semantic labels of the point clouds for approximately 40,000 keyframes",
      "Extract or use location": "lidarseg and v1.0-* folders in the nuScenes root"
    },
    {
      "Component": "Panoptic nuScenes",
      "Release (per README)": "August 2021",
      "What it adds": "Panoptic labels of the point clouds for approximately 40,000 keyframes",
      "Extract or use location": "panoptic and v1.0-* folders in the nuScenes root"
    }
  ],
  "sources": [
    {
      "title": "nuScenes devkit README and changelog",
      "url": "https://github.com/nutonomy/nuscenes-devkit",
      "accessed": "2026-11-12"
    }
  ]
}