KITTI Dataset Prepare dataset Create KITTI dataset Train pipeline Evaluation Metrics Testing and make a submission NuScenes Dataset Before Preparation Dataset Preparation Training pipeline LiDAR-Based Methods Vision-Based Methods Evaluation Metrics Testing and make a submission Notes Transformation between NuScenesBox and our CameraInstanceBoxes. Lyft Dataset Before Preparation Dataset Preparation Training pipeline LiDAR-Based Methods Evaluation Metrics Testing and make a submission Waymo Dataset Prepare dataset Training Evaluation Testing and make a submission SUN RGB-D Dataset Dataset preparation Download SUN RGB-D data and toolbox Extract data and annotations for 3D detection from raw data Create dataset Train pipeline Metrics ScanNet Dataset Dataset preparation Export ScanNet point cloud data Export ScanNet RGB data (optional) Create dataset Training pipeline Metrics Testing and Making a Submission S3DIS Dataset Dataset preparation Export S3DIS data Create dataset Training pipeline Metrics SemanticKITTI Dataset Prepare dataset Create SemanticKITTI Dataset Train pipeline Evaluation Metrics