（一）使用YOLOv3训练BDD100K数据集之数据集下载
目录
- 1 数据集下载
- 2 数据集简单分析
- 3 标签文件分析
1 数据集下载
之前博客写 了如何使用YOLOv3训练自动驾驶数据集KITTI，它的图片尺寸普遍为1242x375（大约)，且总共有提供标签的7481张训练集，还有未提供标签的7518张测试集，用于官方评测算法。如果我们自己要评测算法，需要从7481张训练集中划分一部分作为验证集，这样训练的数据又减少了。而BDD00K数据集总共拥有110k张图片，分为100k和10k两个部分。其中100k的部分提供有70k的带标签训练集数据和10k带标签的验证集数据，此外还有20k未提供标签的数据用于官方评测算法。10k的部分只提供了图片，目前没有提供标签。数据集下载可以去官方网址，但是需要用教育邮箱注册账号，而且经常会出现下载到一半被禁止下载的提示，比较麻烦。这里找到了一个很好的下载地址，不需要账号，且不会出现下载中断的问题！
地址如下：
- BDD00K所有数据（包括可行驶区域，分割，原始图片，对象检测标签）的下载地址：
https://archive.org/details/bdd100k
- BDD00K所有图片的下载地址：
https://archive.org/download/bdd100k/bdd100k_labels.zip
- BDD00K所有图片标签的下载地址：
https://archive.org/download/bdd100k/bdd100k_images.zip
这里，我只用到了bdd100k_labels.zip和bdd100k_images.zip，但是我把bdd100k_drivable_maps.zip和bdd100k_seg.zip也下载了，以防后面使用，如下：
2 数据集简单分析
解压bdd100k_labels.zip和bdd100k_images.zip，会出现两个bdd100k文件夹，这两个文件夹内分别存储了images和labels两个子文件夹，其中images文件夹内存放了1280x720的图片，labels存放了json格式的标签文件，我们把两个子文件夹合并到一个bdd100k文件夹内，方便查看和处理。文件目录树如下：
├── bdd100k
│ ├── images
│ │ ├── 100k
│ │ │ ├── test # 20k测试集图片
│ │ │ ├── train # 70k训练集图片
│ │ │ └── val # 10k验证集图片
│ │ └── 10k
│ │ ├── test # 2k测试集图片
│ │ ├── train # 7k测试集图片
│ │ └── val # 1k验证集图片
│ ├── labels
│ │ └── 100k
│ │ ├── train # 70k训练集标签
│ │ ├── val # 10k验证集标签，这里没有提供20k测试集标签
-
常见的自动驾驶数据集比较
-
道路目标检测各类物体数量分布
BDD100K的道路目标检测部分总共有10类：bus，traffic light，traffic sign，person，bike，truck，moter，car，train，rider。各类对象数目统计分布如下：
3 标签文件分析
随便查看一张图片images/100k/val/b1d9e136-9ab25cb3.jpg，如下：
并打开labels/100k/val/b1d9e136-9ab25cb3,json查看其内容，如下：
{
"name": "b1d9e136-9ab25cb3",
"frames": [
{
"timestamp": 10000, //表示在时间点为10000下的图片
"objects": [
{
"category": "traffic sign", //存在一个traffic sign类别的对象
"id": 0,
"attributes": {
"occluded": false,
"truncated": false,
"trafficLightColor": "none" //交通标志的颜色
},
"box2d": { //左上角和右下角的四个坐标值
"x1": 373.484793,
"y1": 218.719691,
"x2": 418.816665,
"y2": 234.533134
}
},
{
"category": "person", //存在一个person类别的对象
"id": 1,
"attributes": {
"occluded": false,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 887.948822,
"y1": 329.413797,
"x2": 903.762266,
"y2": 369.474519
}
},
{
"category": "person", //存在一个person类别的对象
"id": 2,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 355.562892,
"y1": 309.383434,
"x2": 368.213647,
"y2": 326.251107
}
},
{
"category": "person", //存在一个person类别的对象
"id": 3,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 258.573769,
"y1": 295.678449,
"x2": 282.82105,
"y2": 347.335698
}
},
{
"category": "car", //存在一个car类别的对象
"id": 4,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 786.742784,
"y1": 336.793403,
"x2": 806.773146,
"y2": 368.420289
}
},
{
"category": "car", //存在一个car类别的对象
"id": 5,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 744.573602,
"y1": 331.522255,
"x2": 797.285079,
"y2": 378.962585
}
},
{
"category": "car", //存在一个car类别的对象
"id": 6,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 718.217861,
"y1": 316.763042,
"x2": 755.115896,
"y2": 378.962586
}
},
{
"category": "car", //存在一个car类别的对象
"id": 7,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 459.931618,
"y1": 317.81727,
"x2": 506.31772,
"y2": 362.094912
}
},
{
"category": "car", //存在一个car类别的对象
"id": 8,
"attributes": {
"occluded": true,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 348.183284,
"y1": 319.92573,
"x2": 375.593253,
"y2": 368.420289
}
},
{
"category": "car", //存在一个car类别的对象
"id": 9,
"attributes": {
"occluded": false,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 365.050957,
"y1": 299.895368,
"x2": 484.178899,
"y2": 390.559112
}
},
{
"category": "car", //存在一个car类别的对象
"id": 10,
"attributes": {
"occluded": false,
"truncated": false,
"trafficLightColor": "none"
},
"box2d": {
"x1": 467.311224,
"y1": 274.593858,
"x2": 751.953209,
"y2": 523.392035
}
},
{
"category": "car", //存在一个car类别的对象
"id": 11,
"attributes": {
"occluded": false,
"truncated": true,
"trafficLightColor": "none"
},
"box2d": {
"x1": 1.341755,
"y1": 296.732679,
"x2": 323.936004,
"y2": 521.283577
}
},
{
"category": "car", //存在一个car类别的对象
"id": 12,
"attributes": {
"occluded": false,
"truncated": true,
"trafficLightColor": "none"
},
"box2d": {
"x1": 872.135381,
"y1": 236.641594,
"x2": 1278.013765,
"y2": 684.68916
}
},
//道路可行驶区域的标签
{
"category": "area/drivable",
"id": 13,
"attributes": {},
"poly2d": [
[
379.295348,
522.084962,
"L"
],
[
833.816375,
531.298227,
"L"
],
[
978.157509,
649.535114,
"L"
],
[
760.110261,
631.108585,
"C"
],
[
499.06778,
611.146514,
"C"
],
[
257.987372,
628.037498,
"C"
],
[
379.295348,
522.084962,
"L"
]
]
},
//可选择的行驶区域的标签
{
"category": "area/alternative",
"id": 14,
"attributes": {},
"poly2d": [
[
763.318996,
386.437234,
"L"
],
[
755.503629,
448.378849,
"L"
],
[
873.740518,
532.83377,
"L"
],
[
866.256426,
421.87471,
"L"
],
[
763.318996,
386.437234,
"L"
]
]
},
{
"category": "area/alternative",
"id": 15,
"attributes": {},
"poly2d": [
[
810.568964,
374.624742,
"L"
],
[
867.943924,
388.124733,
"L"
],
[
871.318922,
415.124715,
"L"
],
[
776.818987,
381.374738,
"L"
],
[
810.568964,
374.624742,
"L"
]
]
},
//单一的白色车道线
{
"category": "lane/single white",
"id": 16,
"attributes": {
"direction": "parallel",
"style": "dashed"
},
"poly2d": [
[
472.553479,
437.976395,
"L"
],
[
429.011966,
468.711581,
"L"
],
[
234.355791,
627.51004,
"L"
]
]
},
//单一的白色车道线
{
"category": "lane/single white",
"id": 17,
"attributes": {
"direction": "parallel",
"style": "dashed"
},
"poly2d": [
[
476.395377,
423.889435,
"L"
],
[
412.363741,
464.869683,
"L"
],
[
210.023769,
627.51004,
"L"
]
]
},
//单一的白色车道线
{
"category": "lane/single white",
"id": 18,
"attributes": {
"direction": "parallel",
"style": "solid"
},
"poly2d": [
[
749.17015,
462.308417,
"L"
],
[
984.806573,
654.403328,
"L"
]
]
},
//单一的白色车道线
{
"category": "lane/single white",
"id": 19,
"attributes": {
"direction": "parallel",
"style": "solid"
},
"poly2d": [
[
750.450783,
441.818294,
"L"
],
[
1046.276945,
659.525859,
"L"
]
]
},
//单一的白色车道线
{
"category": "lane/single white",
"id": 20,
"attributes": {
"direction": "parallel",
"style": "dashed"
},
"poly2d": [
[
749.17015,
380.347922,
"L"
],
[
874.672158,
414.925006,
"L"
]
]
},
//单一的白色车道线
{
"category": "lane/single white",
"id": 21,
"attributes": {
"direction": "parallel",
"style": "dashed"
},
"poly2d": [
[
795.272928,
371.383493,
"L"
],
[
877.233423,
390.592984,
"L"
]
]
},
//道路路边的车道线
{
"category": "lane/road curb",
"id": 22,
"attributes": {
"direction": "parallel",
"style": "solid"
},
"poly2d": [
[
829.850012,
371.383493,
"L"
],
[
882.355954,
380.347922,
"L"
]
]
},
//道路路边的车道线
{
"category": "lane/road curb",
"id": 23,
"attributes": {
"direction": "parallel",
"style": "solid"
},
"poly2d": [
[
307.351856,
366.260962,
"L"
],
[
352.174002,
361.138431,
"L"
]
]
}
]
}
],
"attributes": {
"weather": "undefined",
"scene": "city street",
"timeofday": "daytime"
}
}
```