Dataset credits and terms

Research figures, reconstructed views, comparisons and scores on these project pages use driving datasets from the providers below. Where dataset material has been processed, the figures and captions identify the calibration, rendering or evaluation performed. Dataset material keeps its upstream terms; a software license does not relicense it.

• KITTI-360 — Autonomous Vision Group; Yiyi Liao, Jun Xie and Andreas Geiger. CC BY-NC-SA 3.0. Registration and declared intended use are required for access.
• nuScenes — Motional. CC BY-NC-SA 4.0 with additional dataset terms, including terms for derived data.
• PandaSet — Hesai and Scale AI. CC BY 4.0 with the additional Dataset Terms in each downloaded scene's LICENSE.txt.
• Waymo Open Dataset — Waymo LLC. Waymo Dataset License Agreement for Non-Commercial Use. Dataset copies and modifications require registered recipients who accepted the agreement; research illustrations and derivative work have separate conditions in that agreement.

This research work was made using the Waymo Open Dataset, provided by Waymo LLC under the Waymo Dataset License Agreement for Non-Commercial Use, available at https://waymo.com/open/terms/, and your access and use of such work are governed by the terms and conditions therein. This attribution does not grant additional rights to the dataset or dataset-derived models and outputs.

These credits identify data sources and do not imply provider endorsement. Raw datasets, pose bundles and trained weights are not hosted by these project pages. Download data through the providers' authorized access processes. See the benchmark data provenance guide and calibration dataset guide for preparation and release policy.