Datasets › ONCE
ONCE (One Million Scenes)
ONCE (One millioN sCenEs) is a dataset for 3D object detection in the autonomous driving scenario. The ONCE dataset consists of 1 million LiDAR scenes and 7 million corresponding camera images. The data is selected from 144 driving hours, which is 20x longer than other 3D autonomous driving datasets available like nuScenes and Waymo, and it is collected across a range of different areas, periods and weather conditions.
Consists of:
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1 Million LiDAR frames, 7 Million camera images
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200 km² driving regions, 144 driving hours
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15k fully annotated scenes with 5 classes (Car, Bus, Truck, Pedestrian, Cyclist)
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Diverse environments (day/night, sunny/rainy, urban/suburban areas)
Benchmarks archive 2025-07-28
All 1 leaderboard whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.
| First row (archive order) | Paper | Code | ||||
|---|---|---|---|---|---|---|
| 3D Object Detection | ONCE | LION mAP 66.6 | LION: Linear Group RNN for 3D Object Detection in Point Clouds | happinesslz/LION | 2 | Compare |
Papers archive 2025-07-28
2 shown of 2 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 87. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.
| Date | Samples run Syntology | |||
|---|---|---|---|---|
| LION: Linear Group RNN for 3D Object Detection in Point Clouds | 1 | 1 | 25 Jul 2024 | ran 0 of 7 samples (7 unverified) |
| Center-based 3D Object Detection and Tracking | 13 | 1 | 19 Jun 2020 | ran 7 of 22 samples (15 unverified) |
Dataset loaders archive 2025-07-28
No loader listed in the archive.
Tasks archive 2025-07-28
License archive 2025-07-28
Modalities archive 2025-07-28
Languages archive 2025-07-28
No language tagged.
Variants archive 2025-07-28
- ONCE
1 variant name, as the archive lists them.
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