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LiDAR datasets

archive 2025-07-28

94 datasets carry the modality tag "LiDAR", ordered by the archive's paper count. Page 1 of 2: 48 shown of 94. Facet routes are this site's own (the archive records the tag string, not a page).

The archive holds 12,214 dataset rows; 12,172 are listed. 6 are withheld from every listing and count here as vandalised before snapshot (6 with contact-centre spam in the title, 0 with a spam description on a row that has no homepage, no paper and no papers counted; none with more than 1 paper, 0 with a benchmark), listed in withheld.json; 1 listed row carries a vandalised description, withheld on its page. This gate never withholds a row with a homepage or a paper that resolves, and a clean description; the content rules below withhold a row whose name is spam whatever else it carries. The gate is a phrase list: these are the rows it caught, not a claim that the rest is clean. Before that gate, the site's content rules withhold 36 more rows (invite-code, gambling, travel-booking, contact-centre and similar spam in the name or on a row with nothing real behind it); they have no page and are listed in withheld.json.

LiDAR datasets 1–48 of 94

KITTI

KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute) is one of the most popular datasets for use in mobile robotics and autonomous driving.

Images LiDAR Object Detection Semantic Segmentation Pose Estimation Object Tracking 3D Object Detection Image Super-Resolution+41 tasks

3,661 papers · 137 benchmarks

nuScenes

The nuScenes dataset is a large-scale autonomous driving dataset.

Images 3D Point cloud Tracking LiDAR Object Detection Instance Segmentation 3D Object Detection Semi-Supervised Semantic Segmentation Trajectory Prediction 3D Semantic Segmentation+13 tasks

2,139 papers · 21 benchmarks

SemanticKITTI

SemanticKITTI is a large-scale outdoor-scene dataset for point cloud semantic segmentation.

LiDAR Semi-Supervised Semantic Segmentation Panoptic Segmentation 3D Semantic Segmentation Generalized Zero-Shot Learning 3D Semantic Scene Completion LIDAR Semantic Segmentation+5 tasks

669 papers · 10 benchmarks

Waymo Open Dataset

The Waymo Open Dataset is comprised of high resolution sensor data collected by autonomous vehicles operated by the Waymo Driver in a wide variety of conditions.

Images 3D LiDAR Object Detection 3D Object Detection 3D Human Pose Estimation 3D Semantic Segmentation Multiple Object Tracking Autonomous Driving+4 tasks

481 papers · 16 benchmarks

Argoverse

Argoverse is a tracking benchmark with over 30K scenarios collected in Pittsburgh and Miami.

Images Videos Point cloud LiDAR 3D Object Detection Trajectory Prediction Motion Forecasting Monocular Cross-View Road Scene Parsing(Road)3D Object Tracking Monocular Cross-View Road Scene Parsing(Vehicle)

386 papers · 6 benchmarks

KITTI-360

KITTI-360 is a large-scale dataset that contains rich sensory information and full annotations.

Images LiDAR Semantic Segmentation 2D Semantic Segmentation Instance Segmentation Panoptic Segmentation Novel View Synthesis 3D Semantic Segmentation+6 tasks

246 papers · 7 benchmarks

Argoverse 2

Argoverse 2 (AV2) is a collection of three datasets for perception and forecasting research in the self-driving domain.

LiDAR 3D Object Detection Scene Flow Estimation Dynamic Point Removal Self-supervised Scene Flow Estimation

185 papers · 3 benchmarks

ONCE (One Million Scenes)

ONCE (One millioN sCenEs) is a dataset for 3D object detection in the autonomous driving scenario.

Images LiDAR 3D Object Detection

87 papers · 1 benchmark

SemanticPOSS

The SemanticPOSS dataset for 3D semantic segmentation contains 2988 various and complicated LiDAR scans with large quantity of dynamic instances.

3D Point cloud LiDAR Semantic Segmentation 3D Semantic Segmentation Autonomous Driving Weakly supervised Semantic Segmentation

71 papers · 1 benchmark

Newer College

The Newer College Dataset is a large dataset with a variety of mobile mapping sensors collected using a handheld device carried at typical walking speeds for nearly 2.2 km through New College, Oxford.

LiDAR

65 papers · 0 benchmarks

V2XSet

A large-scale V2X perception dataset using CARLA and OpenCDA

Images 3D LiDAR 3D Object Detection

36 papers · 1 benchmark

V2V4Real

V2V4Real is a large-scale real-world multi-modal dataset for V2V perception.

Videos RGB Video LiDAR Domain Adaptation 3D Object Detection

35 papers · 0 benchmarks

Clear Weather (DENSE)

We introduce an object detection dataset in challenging adverse weather conditions covering 12000 samples in real-world driving scenes and 1500 samples in controlled weather conditions within a fog chamber.

LiDAR 2D Object Detection Object Detection 3D Object Detection

34 papers · 2 benchmarks

MVSEC (Multi Vehicle Stereo Event Camera)

The Multi Vehicle Stereo Event Camera (MVSEC) dataset is a collection of data designed for the development of novel 3D perception algorithms for event based cameras.

Images Stereo LiDAR Optical Flow Estimation Self-Supervised Learning Video Reconstruction Event-based Optical Flow

28 papers · 2 benchmarks

DALES (DALES: A Large-scale Aerial LiDAR Data Set for Semantic Segmentation)

We present the Dayton Annotated LiDAR Earth Scan (DALES) data set, a new large-scale aerial LiDAR data set with over a half-billion hand-labeled points spanning 10 square kilometers of area and eight object categories.

3D Point cloud LiDAR Panoptic Segmentation 3D Semantic Segmentation

26 papers · 2 benchmarks

Dense Fog

LiDAR 2D Object Detection Object Detection 3D Object Detection

20 papers · 2 benchmarks

SynLiDAR

SynLiDAR is a large-scale synthetic LiDAR sequential point cloud dataset with point-wise annotations.

3D Point cloud LiDAR Unsupervised Domain Adaptation 3D Semantic Segmentation 3D Source-Free Domain Adaptation 3D Unsupervised Domain Adaptation

20 papers · 1 benchmark

DELIVER

DELIVER is an arbitrary-modal segmentation benchmark, covering Depth, LiDAR, multiple Views, Events, and RGB.

LiDAR Semantic Segmentation

19 papers · 3 benchmarks

SCAND (Socially CompliAnt Navigation Dataset)

Have you wondered how autonomous mobile robots should share space with humans in public spaces?

Videos Point cloud RGB-D Actions RGB Video LiDAR

18 papers · 0 benchmarks

Wild-Places

Many existing datasets for lidar place recognition are solely representative of structured urban environments, and have recently been saturated in performance by deep learning based approaches.

3D LiDAR Domain Adaptation 3D Place Recognition Sequential Place Recognition

18 papers · 1 benchmark

ViViD++ (Vision for Visibility Dataset)

A dataset capturing diverse visual data formats that target varying luminance conditions, and was recorded from alternative vision sensors, by handheld or mounted on a car, repeatedly in the same space but in different conditions.

Images 3D RGB-D RGB Video LiDAR Semantic SLAM

17 papers · 0 benchmarks

DublinCity

A novel benchmark dataset that includes a manually annotated point cloud for over 260 million laser scanning points into 100'000 (approx.) assets from Dublin LiDAR point cloud [12] in 2015.

3D Point cloud LiDAR 3D Reconstruction Scene Understanding Visual Localization

15 papers · 0 benchmarks

SemanticSTF

SemanticSTF is an adverse-weather point cloud dataset that provides dense point-level annotations and allows to study 3DSS under various adverse weather conditions.

LiDAR Semantic Segmentation 3D Semantic Segmentation LIDAR Semantic Segmentation

12 papers · 1 benchmark

WildScenes

WildScenes is a bi-modal benchmark dataset consisting of multiple large-scale, sequential traversals in natural environments, including semantic annotations in high-resolution 2D images and dense 3D LiDAR point clouds, and accurate 6-DoF…

Images Point cloud LiDAR Semantic Segmentation 2D Semantic Segmentation 3D Semantic Segmentation Image Segmentation LIDAR Semantic Segmentation Semantic SLAM+1 tasks

12 papers · 2 benchmarks

SLOPER4D

SLOPER4D is a novel scene-aware dataset collected in large urban environments to facilitate the research of global human pose estimation (GHPE) with human-scene interaction in the wild.

Videos LiDAR Pose Estimation 3D Human Pose Estimation

11 papers · 1 benchmark

nuScenes LiDAR only

Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology.

LiDAR 3D Object Detection 3D Multi-Object Tracking

11 papers · 2 benchmarks

Zenseact Open Dataset

The Zenseact Open Dataset (ZOD) is a large-scale and diverse multi-modal autonomous driving (AD) dataset, created by researchers at Zenseact.

Images Videos 3D Time series LiDAR

9 papers · 0 benchmarks

WADS (Winter Adverse Driving dataSet)

Collected in the snow belt region of Michigan's Upper Peninsula, WADS is the first multi-modal dataset featuring dense point-wise labeled sequential LiDAR scans collected in severe winter weather.

3D Point cloud Environment LiDAR

8 papers · 0 benchmarks

BAAI-VANJEE

BAAI-VANJEE is a dataset for benchmarking and training various computer vision tasks such as 2D/3D object detection and multi-sensor fusion.

Images LiDAR Object Detection Radar Object Detection

6 papers · 0 benchmarks

LiDAR-MOS (LiDAR-based Moving Object Segmentation)

Tasks.

3D Point cloud LiDAR 3D Semantic Segmentation 3D Part Segmentation Moving Point Cloud Processing

6 papers · 0 benchmarks

DurLAR (A High-Fidelity 128-Channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery)

DurLAR is a high-fidelity 128-channel 3D LiDAR dataset with panoramic ambient (near infrared) and reflectivity imagery for multi-modal autonomous driving applications.

Images 3D Point cloud Time series Stereo RGB Video LiDAR Depth Estimation Autonomous Driving 3D Depth Estimation

5 papers · 0 benchmarks

S.MID (SeMantic InDustry)

SeMantic InDustry (S.MID) is a dataset designed to advance the field of LiDAR semantic segmentation, specifically for robotic applications and large-scale industrial scene.

LiDAR LIDAR Semantic Segmentation

5 papers · 1 benchmark

SYNS-Patches

SYNS-Patches dataset, which is a subset of SYNS.

Images LiDAR Depth Estimation Monocular Depth Estimation

5 papers · 0 benchmarks

aiMotive Dataset (aiMotive Multimodal Dataset)

aiMotive dataset is a multimodal dataset for robust autonomous driving with long-range perception.

Images 3D Tracking LiDAR Object Tracking 3D Object Detection

5 papers · 1 benchmark

Argoverse 2 Lidar

The Argoverse 2 Lidar Dataset is a collection of 20,000 scenarios with lidar sensor data, HD maps, and ego-vehicle pose.

LiDAR Self-Supervised Learning Motion Forecasting

4 papers · 0 benchmarks

FieldSAFE

The FieldSAFE dataset is a multi-modal dataset for obstacle detection in agriculture.

Images LiDAR

4 papers · 0 benchmarks

Heavy Snowfall (DENSE)

LiDAR Object Detection 3D Object Detection

4 papers · 1 benchmark

Human-M3

Human-M3 is an outdoor multi-modal multi-view multi-person human pose database which includes not only multi-view RGB videos of outdoor scenes but also corresponding pointclouds.

Point cloud LiDAR

4 papers · 0 benchmarks

MUSES: MUlti-SEnsor Semantic perception dataset (The Multi-Sensor Semantic Perception Dataset for Driving under Uncertainty)

MUSES offers 2500 multi-modal scenes, evenly distributed across various combinations of weather conditions (clear, fog, rain, and snow) and types of illumination (daytime, nighttime).

Images Point cloud RGB-D LiDAR Object Detection Semantic Segmentation Panoptic Segmentation Unsupervised Panoptic Segmentation Uncertainty-Aware Panoptic Segmentation

4 papers · 5 benchmarks

S3E

S3E is a novel large-scale multimodal dataset captured by a fleet of unmanned ground vehicles along four designed collaborative trajectory paradigms.

Images Point cloud LiDAR Simultaneous Localization and Mapping

4 papers · 0 benchmarks

SCOUT: The Situated Corpus of Understanding Transaction

The Situated Corpus Of Understanding Transactions (SCOUT) is a multi-modal collection of human-robot dialogue in the task domain of collaborative exploration.

Images Texts Interactive Dialog LiDAR Dialogue Management

4 papers · 0 benchmarks

Sydney Urban Objects

This dataset contains a variety of common urban road objects scanned with a Velodyne HDL-64E LIDAR, collected in the CBD of Sydney, Australia.

3D Point cloud LiDAR 3D Point Cloud Classification

4 papers · 1 benchmark

AnoVox

AnoVox is a large-scale benchmark for ANOmaly detection in autonomous driving.

Images 3D RGB-D LiDAR Anomaly Detection

3 papers · 0 benchmarks

Ford Campus Vision and Lidar Data Set

Ford Campus Vision and Lidar Data Set is a dataset collected by an autonomous ground vehicle testbed, based upon a modified Ford F-250 pickup truck.

Videos Point cloud LiDAR

3 papers · 0 benchmarks

HelixNet (HelixNet: A Dataset for Online LiDAR Segmentation)

Large-scale and open-access LiDAR dataset intended for the evaluation of real-time semantic segmentation algorithms.

LiDAR Semantic Segmentation Real-Time Semantic Segmentation

3 papers · 1 benchmark

ORU Diverse radar dataset

Evaluate radar localization in diverse environments Download: https://drive.google.com/drive/folders/1uATfrAe-KHlz29e-Ul8qUbUKwPxBFIhP Download

LiDAR Radar odometry

3 papers · 0 benchmarks

TbV Dataset (Trust, but Verify Dataset)

The TbV dataset is large-scale dataset created to allow the community to improve the state of the art in machine learning tasks related to mapping, that are vital for self-driving.

Videos LiDAR HD semantic map learning

3 papers · 0 benchmarks

VBR (VBR: A Vision Benchmark in Rome)

This dataset presents a vision and perception research dataset collected in Rome, featuring RGB data, 3D point clouds, IMU, and GPS data.

3D Point cloud Tracking Stereo RGB Video LiDAR Pose Estimation Visual Place Recognition 3D Reconstruction Point Cloud Registration Monocular Depth Estimation Novel View Synthesis+23 tasks

3 papers · 0 benchmarks

Paper counts and descriptions are the archive's, frozen 2025-07-28; no citation counts, no stars, no trending. Sorting by "most cited" or "newest" was a live-site feature the archive does not carry.

LiDAR datasets

Filter 39 modality tags shown of 39, by dataset count; the full filter by modality, task and language is on /datasets

LiDAR datasets 1–48 of 94