Waymo：单目，双目，雷达点云

• consists of 798 training sequences and 202 validation sequences. The dataset also includes 150 test sequences without ground truth data. The dataset provides object labels in the full 360◦field of view with a multi-camera rig. We only use the front camera and only consider object labels in the front-camera’s field of view (50.4◦) for the task of monocular object detection, and provide results on the validation se- quences. We sample every 3rd frame from the training sequences to form our training set (51,564 samples) due to the large dataset size and high frame rate

• 10epochs on the Waymo Open Datase

• a NVIDIA Tesla V100 (32G) GPU.