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Basic KG statistics of Pandaset (DSKG-P) and NuScenes, sampled at 4s (DSKG-N).
| Pandaset | NuScenes (sampled) | |
|---|---|---|
| # Triples | 3,301,929 | 819,084 |
| # Entity Classes | 38 | 31 |
| # Relations | 19 | 14 |
| # Sequence scene inst. | 103 | 850 |
| # Frame scene inst. | 8,240 | 4,498 |
| # Entity inst. | 53,248 | 277,287 |
| Triples per entity ratio | 62.01 | 2.95 |
| Avg. cardinality of entity class | 15.7 | 9.07 |
| Avg. cardinality of entity inst. | 369.6 | 57.78 |
