The Udacity dataset is mainly composed of video frames taken from urban roads. It provides a total number of 404,916 video frames for training and 5,614 video frames for testing. This dataset is challenging due to severe lighting changes, sharp road curves and busy traffic.
Source: Learning to Steer by Mimicking Features from Heterogeneous Auxiliary Networks Image Source: https://www.researchgate.net/figure/Sample-from-the-Udacity-dataset-with-the-original-ground-truth-bounding-boxes-Note-that_fig3_345652980
