The ISS Sim data

ISS uses SOTA open-source datasets (like NuScenes and COCO) and its own specific ISS-Dataset collected from the CARLA simulator according to the standard format used in NuScenes to train and fine-tune the object detection models in the perception module, so that the model can detect more fine-grained object types such as traffic signs and different vehicle types on the simulation platform with better performance.

The ISS-Dataset comprises three types of data: 2D, 3D and PointCloud. It includes images and point cloud data of entire scenarios, as well as categorized data such as small, medium, and large vehicles, traffic signs, and other types of road objects along with their corresponding labels. The ISS-Dataset is available on Google Drive.