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Image segmentation
Cityscapes
The Cityscapes dataset focuses on semantic understanding of urban street scenes.
Image bounding boxes
VOC
The Pascal Visual Object Classes (VOC) challenge is a benchmark in visual object category recognition and detection.
Point cloud segmentation
SemanticKITTI
SemanticKITTI is a dataset of LiDAR sequences for semantic scene understanding.
Point cloud cuboids
nuScenes
The nuScenes dataset is a large-scale autonomous driving dataset with 3D cuboid annotations.