# CAR -- Cityscapes Attributes Recognition A Multi-category Attributes Dataset for Autonomous Vehicles

arXiv: https://arxiv.org/abs/2111.08243 · HTML: https://mlsanity.com/paper/2111.08243/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 64 of its 114 references that are in the map.
- First posted on arXiv 16 Nov 2021.

## Builds on (most cited first, 30 of 64)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Deep Learning Face Attributes in the Wild](https://mlsanity.com/paper/1411.7766/) (2014)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Panoptic Segmentation](https://mlsanity.com/paper/1801.00868/) (2018)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [PointPainting: Sequential Fusion for 3D Object Detection](https://mlsanity.com/paper/1911.10150/) (2019)
- [Bottleneck Transformers for Visual Recognition](https://mlsanity.com/paper/2101.11605/) (2021)
- [Virtual KITTI 2](https://mlsanity.com/paper/2001.10773/) (2020)
- [Virtual Worlds as Proxy for Multi-Object Tracking Analysis](https://mlsanity.com/paper/1605.06457/) (2016)
- [Multi-Label Image Recognition with Graph Convolutional Networks](https://mlsanity.com/paper/1904.03582/) (2019)
- [Towards Open World Object Detection](https://mlsanity.com/paper/2103.02603/) (2021)
- [The ApolloScape Open Dataset for Autonomous Driving and its Application](https://mlsanity.com/paper/1803.06184/) (2018)
- [A2D2: Audi Autonomous Driving Dataset](https://mlsanity.com/paper/2004.06320/) (2020)
- [3D-CVF: Generating Joint Camera and LiDAR Features Using Cross-View Spatial Feature Fusion for 3D Object Detection](https://mlsanity.com/paper/2004.12636/) (2020)
- [Playing for Benchmarks](https://mlsanity.com/paper/1709.07322/) (2017)
- [Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking](https://mlsanity.com/paper/2109.03805/) (2021)
- [IDD: A Dataset for Exploring Problems of Autonomous Navigation in Unconstrained Environments](https://mlsanity.com/paper/1811.10200/) (2018)
- [In Defense of Grid Features for Visual Question Answering](https://mlsanity.com/paper/2001.03615/) (2020)

## Built on by (most cited first, 2 of 2)

- [GlideNet: Global, Local and Intrinsic based Dense Embedding NETwork for Multi-category Attributes Prediction](https://mlsanity.com/paper/2203.03079/) (2022)
- [Towards Establishing Systematic Classification Requirements for Automated Driving](https://mlsanity.com/paper/2307.14058/) (2023)

## Abstract (arXiv)

Self-driving vehicles are the future of transportation. With current advancements in this field, the world is getting closer to safe roads with almost zero probability of having accidents and eliminating human errors. However, there is still plenty of research and development necessary to reach a level of robustness. One important aspect is to understand a scene fully including all details. As some characteristics (attributes) of objects in a scene (drivers' behavior for instance) could be imperative for correct decision making. However, current algorithms suffer from low-quality datasets with such rich attributes. Therefore, in this paper, we present a new dataset for attributes recognition -- Cityscapes Attributes Recognition (CAR). The new dataset extends the well-known dataset Cityscapes by adding an additional yet important annotation layer of attributes of objects in each image. Currently, we have annotated more than 32k instances of various categories (Vehicles, Pedestrians, etc.). The dataset has a structured and tailored taxonomy where each category has its own set of possible attributes. The tailored taxonomy focuses on attributes that is of most beneficent for developing better self-driving algorithms that depend on accurate computer vision and scene comprehension. We have also created an API for the dataset to ease the usage of CAR. The API can be accessed through https://github.com/kareem-metwaly/CAR-API.