How SimBEV Works
The SimBEV dataset is a collection of 320 scenes spread across 11 CARLA maps and contains data from all supported sensors. With each scene lasting 16 seconds at a frame rate of 20 Hz, the SimBEV dataset contains 102,400 annotated frames, 8,315,935 3D object bounding boxes (3,792,499 of which are valid (i.e., have at least one lidar or radar point inside)), and 2,793,491,357 BEV ground truth labels. You can download the dataset from here, or use the links below for individual parts. See here for more information about the dataset.
Unless specifically labeled otherwise, the SimBEV Dataset is provided to you under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International Public License (“CC BY-NC-SA 4.0”). The CC BY-NC-SA 4.0 may be accessed here. When you download or use the SimBEV Dataset from our websites or elsewhere, you are agreeing to comply with the terms of CC BY-NC-SA 4.0 as applicable.
@article{mehr2025simbev,
title={SimBEV: A Synthetic Multi-Task Multi-Sensor Driving Data Generation Tool and Dataset},
author={Mehr, Goodarz and Eskandarian, Azim},
journal={arXiv preprint arXiv:2502.01894},
year={2025}
}