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🚗 Curated Catalog · Autonomous Vehicles

nuScenes

Full AV sensor suite — 1.4M camera images + 390K LiDAR sweeps across 1,000 Boston/Singapore scenes.

LQS 94 · platinum ⚠ Research-only 1.4M camera images 345 GB JSON · JPG Released 2019
Browse commercial Autonomous Vehicles → Visit original source ↗
Source: nuscenes.org · maintained by Motional (nuTonomy / Aptiv)
1.4M
camera images
345 GB
Size on disk
94
LQS · platinum
2019
First released

About this dataset

nuScenes from Motional is one of the most comprehensive autonomous driving datasets. 1,000 driving scenes (20s each) collected in Boston and Singapore, with full sensor suite: 6 cameras, 5 radars, 1 LiDAR, GPS, IMU. 1.4M camera images, 390K LiDAR sweeps, 1.4M radar sweeps, 1.4M 3D bounding boxes across 23 object classes.

Maintainer
Motional (nuTonomy / Aptiv)
License
CC BY-NC-SA 4.0
Formats
JSON · JPG · PCD
Paper
Read on arxiv.org →

LabelSets Quality Score

LQS is our 7-dimension quality score, computed from the dataset's published statistics. See methodology →

94
out of 100
platinum tier

High-quality dataset across most dimensions

Composite score computed from the 7 dimensions below: completeness, uniqueness, validation health, size adequacy, format compliance, label density, and class balance.

Completeness 95
No public completeness metric; using prior for 'expert_curated' datasets.
Uniqueness 95
Manually vetted for uniqueness by maintainer.
Validation 92
Labels produced by domain experts or trained annotators.
Size adequacy 99
1,400,000 scenes — exceeds 1,000 adequacy target for Autonomous Vehicles.
Format compliance 95
Industry-standard format — drop-in compatible with mainstream tooling.
Label density 100
Average 1400.0 labels per item (high density).
Class balance 75
Moderate class skew — realistic production distribution.

What it's used for

Common tasks and benchmarks where nuScenes is the default or competitive choice.

Sample statistics

What's actually in the dataset — from the maintainer's published stats.

1,000 scenes × 20s. 1.4M camera images, 390K LiDAR sweeps, 1.4M 3D boxes, 23 object classes. Day/night, rain/clear. Boston + Singapore.

License

nuScenes is distributed under CC BY-NC-SA 4.0. This is a third-party public dataset; LabelSets indexes and scores it but does not host or redistribute the data. Always verify current license terms with the maintainer before commercial use.

Heads up: this dataset's license restricts commercial use. If you need autonomous vehicles data for production, check LabelSets' paid datasets below — every listing has an explicit commercial license.

Need commercial-licensed Autonomous Vehicles data?

LabelSets sellers offer paid autonomous vehicles datasets with what public datasets often can't give you:

Browse paid Autonomous Vehicles → Sell your dataset

Similar public datasets

Other entries in the Autonomous Vehicles catalog.

KITTI Vision Benchmark
200K labeled objects · CC BY-NC-SA 3.0
Waymo Open Dataset
1.1K driving scenes · Waymo Dataset License (research only)
Cityscapes
25K images · Cityscapes License (research use)

Frequently Asked Questions

nuScenes is distributed under CC BY-NC-SA 4.0, which restricts commercial use. For a commercially-licensed alternative in autonomous vehicles, see LabelSets' paid datasets.
nuScenes contains 1,400,000 camera images. 1,000 scenes × 20s. 1.4M camera images, 390K LiDAR sweeps, 1.4M 3D boxes, 23 object classes. Day/night, rain/clear. Boston + Singapore.
nuScenes is maintained by Motional (nuTonomy / Aptiv) and is available at https://www.nuscenes.org/nuscenes#download. LabelSets indexes and scores this dataset for discoverability but does not redistribute it.
LQS is a 7-dimension quality score (completeness, uniqueness, validation, size adequacy, format compliance, label density, class balance) computed from the dataset's published statistics. Composite scores map to tiers: platinum (≥90), gold (≥75), silver (≥60), bronze (<60). Read the full methodology.