Datasets › RELLIS-3D
RELLIS-3D
RELLIS-3D is a multi-modal dataset for off-road robotics. It was collected in an off-road environment containing annotations for 13,556 LiDAR scans and 6,235 images. The data was collected on the Rellis Campus of Texas A&M University and presents challenges to existing algorithms related to class imbalance and environmental topography. The dataset also provides full-stack sensor data in ROS bag format, including RGB camera images, LiDAR point clouds, a pair of stereo images, high-precision GPS measurement, and IMU data.
Source: https://github.com/unmannedlab/RELLIS-3D Image Source: https://github.com/unmannedlab/RELLIS-3D
Benchmarks archive 2025-07-28
All 3 leaderboards 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 | ||||
|---|---|---|---|---|---|---|
| Semantic Segmentation | RELLIS-3D Dataset | Swiftnet Mean IoU (class) 77.9 | Semantic Segmentation with High Inference Speed in... | cufctl/segmentation | 5 | Compare |
| 3D Semantic Segmentation | RELLIS-3D Dataset | Cylinder3D Mean IoU (class) 46.07 | Comparison of lidar semantic segmentation performance on... | — | 4 | Compare |
| 2D Semantic Segmentation | RELLIS-3D | Swiftnet Mean IoU (class) 77.9 | Semantic Segmentation with High Inference Speed in... | cufctl/segmentation | 2 | Compare |
Papers archive 2025-07-28
5 shown of 5 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 57. 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 | |||
|---|---|---|---|---|
| Comparison of lidar semantic segmentation performance on the structured SemanticKITTI and off-road RELLIS-3D datasets | 0 | 2 | 20 Aug 2024 | not harvested |
| Utilizing Neural Networks for Semantic Segmentation on RGB/LiDAR Fused Data for Off-road Autonomous Military Vehicle Perception | 1 | 2 | 10 Apr 2023 | not harvested |
| Semantic Segmentation with High Inference Speed in Off-Road Environments | 1 | 2 | 10 Apr 2023 | not harvested |
| GANav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments | 1 | 1 | 7 Mar 2021 | not harvested |
| RELLIS-3D Dataset: Data, Benchmarks and Analysis | 3 | 4 | 17 Nov 2020 | ran 1 of 1 samples (0 unverified; 1 pointer-only for licence) |
Dataset loaders archive 2025-07-28
1 loader as listed in the archive; links are outbound and not re-checked here.
Tasks archive 2025-07-28
License archive 2025-07-28
No licence recorded in the archive. Absence here is not a statement about the dataset's terms.
Modalities archive 2025-07-28
Languages archive 2025-07-28
No language tagged.
Variants archive 2025-07-28
- RELLIS-3D Dataset
- RELLIS-3D
2 variant names, as the archive lists them.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections