It's bdd100k dataset from https://bdd-data.berkeley.edu/ About https://bair.berkeley.edu/blog/2018/05/30/bdd/ ToolKit https://github.com/ucbdrive/bdd-data Reference [1] Huazhe Xu, Yang Gao, Fisher Yu, and Trevor Darrell. "End-to-end learning of driving models from large-scale video datasets." CVPR 2017 [2] Fisher Yu, Wenqi Xian, Yingying Chen, Fangchen Liu, Mike Liao, Vashisht Madhavan, Trevor Darrell. "BDD100K: A Diverse Driving Video Database with Scalable Annotation Tooling" arXiv:1805.04687 [3] Ye Xia, Danqing Zhang, Jinkyu Kim, Ken Nakayama, Karl Zipser, David Whitney. "Predicting Driver Attention in Critical Situations" ACCV 2018