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End of preview.
OPV2V-H dataset
Based on the original OPV2V dataset, we supplemented 16-line, 32-line lidar data for each agent, as well as 4 depth cameras. Annotations will be shared with the original OPV2V, so please download the original OPV2V dataset as well.
Depth Data
OPV2V-H-depth.zipstores the depth camera data. You can directly uncompress them:unzip OPV2V-H-depth.zipLiDAR Data
OPV2V-H-LiDAR-partxxis a volume-compressed slice. They store 16-line and 32-line LiDAR data. You can unzip them usingcat OPV2V-H-LiDAR-part* > OPV2V-H-LiDAR.zip unzip OPV2V-H-LiDAR.zip
A desired output structure will be
─ OPV2V_Hetero
├── test
├── train
└── validate
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