• For technical questions on how to train models and use the dataset, please try Stackoverflow.
  • For issues with the dataset, feel free to use the Github issue tracker.
  • For any other question, feel free to reach out to Karsten Behrendt at llamas 'at' kbehrendt 'dot' com.


Boxy, the Unsupervised Llamas, and the Bosch Small Traffic Lights Dataset were all created as part of research within Bosch's automated driving team.
Bosch's automated driving team covers research and development in sensor hardware and software, perception, sensor fusion, localization, mapping, testing, simulation, prediction, behavior generation, trajectory planning, and motion planning. As shown here, scientific publications are possible as part of working on pushing the state-of-the-art in automated driving.

Bosch Automated Driving
Bosch AI Research
Bosch Careers


@inproceedings{llamas2019,    title={Unsupervised Labeled Lane Markers Using Maps},
   author={Behrendt, Karsten and Soussan, Ryan},
   booktitle={Proceedings of the IEEE International Conference on Computer Vision},


The dataset is published for research purposes and non-commercial usage only. If you find yourself in the data, let us know and we will remove those images.