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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 2 of 2: 46 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 49–94 of 94

Apolloscape Trajectory

Our trajectory dataset consists of camera-based images, LiDAR scanned point clouds, and manually annotated trajectories.

Images LiDAR Trajectory Prediction

2 papers · 1 benchmark

Argoverse 2 Map Change

The Argoverse 2 Map Change Dataset is a collection of 1,000 scenarios with ring camera imagery, lidar, and HD maps.

Videos LiDAR Self-Supervised Learning Motion Forecasting

2 papers · 0 benchmarks

Light Snowfall (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 Object Detection 3D Object Detection

2 papers · 1 benchmark

MagicBathyNet

MagicBathyNet is a benchmark dataset made up of image patches of Sentinel-2, SPOT-6 and aerial imagery, bathymetry in raster format and seabed classes annotations.

Images LiDAR Semantic Segmentation Depth Prediction Bathymetry prediction

2 papers · 0 benchmarks

RISEdb (Robust Indoor Localization in Complex Scenarios (RISE) database)

The RISE (Robust Indoor Localization in Complex Scenarios) dataset is meant to train and evaluate visual indoor place recognizers.

Images Videos 3D LiDAR Indoor Localization

2 papers · 0 benchmarks

SuperCaustics

SuperCaustics is a simulation tool made in Unreal Engine for generating massive computer vision datasets that include transparent objects.

Images Interactive Environment RGB-D RGB Video LiDAR Physics Depth Estimation Depth Completion Surface Normals Estimation Transparent Object Depth Estimation Caustics Segmentation Transparent Object Detection

2 papers · 0 benchmarks

TorWIC (The Toronto Warehouse Incremental Change Dataset)

TorWIC is the dataset discussed in POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes.

RGB-D LiDAR Simultaneous Localization and Mapping Semantic SLAM Object SLAM

2 papers · 0 benchmarks

Underwater Trash Detection

Underwater Trash Detection Dataset Overview The Underwater Trash Detection Dataset is a custom-annotated dataset designed to address the challenges of underwater trash detection caused by varying environmental features.

Images Texts LiDAR Object Detection Classification Video Object Detection Segmentation

2 papers · 0 benchmarks

UofTPed50

UofTPed50 is an object detection and tracking dataset which uses GPS to ground truth the position and velocity of a pedestrian.

Images LiDAR Pedestrian Detection

2 papers · 0 benchmarks

WeatherKITTI

WeatherKITTI is currently the most realistic all-weather simulated enhancement of the KITTI dataset.

Images RGB-D LiDAR Unsupervised Monocular Depth Estimation

2 papers · 0 benchmarks

Apolloscape Inpainting

The Inpainting dataset consists of synchronized Labeled image and LiDAR scanned point clouds.

Images LiDAR Image Inpainting Video Inpainting

1 paper · 1 benchmark

CODD (Cooperative Driving Dataset)

The Cooperative Driving dataset is a synthetic dataset generated using CARLA that contains lidar data from multiple vehicles navigating simultaneously through a diverse set of driving scenarios.

Point cloud LiDAR 3D Object Detection Point Cloud Registration 3D Object Tracking Object SLAM

1 paper · 0 benchmarks

ConSLAM (Construction Dataset for SLAM)

ConSLAM is a real-world dataset collected periodically on a construction site to measure the accuracy of mobile scanners' SLAM algorithms.

Videos 3D Point cloud Tracking RGB Video LiDAR Pose Estimation Depth Estimation Pose Tracking Camera Localization 2D Pose Estimation Visual Odometry+12 tasks

1 paper · 0 benchmarks

DARai (Daily Activity Recordings for AI and ML applications)

Daily Activity Recordings for Artificial Intelligence (DARai, pronounced "Dahr-ree") is a multimodal, hierarchically annotated dataset constructed to understand human activities in real-world settings.

Images Videos Biomedical Environment Time series RGB-D LiDAR Object Detection 2D Semantic Segmentation 3D Action Recognition Scene Segmentation 2D Pose Estimation Human-Object Interaction Detection+5 tasks

1 paper · 0 benchmarks

EXPLICIT 3D CHANGE DETECTION USING RAY-TRACING IN SPHERICAL COORDINATES

Real and simulated lidar data of indoor and outdoor scenes, before and after geometric scene changes have occurred.

LiDAR

1 paper · 0 benchmarks

EviLOG (Evidential Lidar Occupancy Grid Mapping)

The dataset contains synthetic training, validation and test data for occupancy grid mapping from lidar point clouds.

Point cloud Environment LiDAR Prediction Of Occupancy Grid Maps

1 paper · 0 benchmarks

FEE Corridor

The data set contains point cloud data captured in an indoor environment with precise localization and ground truth mapping information.

3D Point cloud Tracking LiDAR 3D Geometry Perception

1 paper · 0 benchmarks

IN2LAAMA

IN2LAAMA is a set of lidar-inertial datasets collected with a Velodyne VLP-16 lidar and a Xsens MTi-3 IMU.

LiDAR Autonomous Vehicles Simultaneous Localization and Mapping Autonomous Navigation

1 paper · 0 benchmarks

IRV2V (IRregular V2V Dataset)

To facilitate research on asynchrony for collaborative perception, we simulate the first collaborative perception dataset with different temporal asynchronies based on CARLA, named IRregular V2V(IRV2V).

Images LiDAR 3D Object Detection

1 paper · 1 benchmark

L-CAS 3D Point Cloud People Dataset

L-CAS 3D Point Cloud People Dataset contains 28,002 Velodyne scan frames acquired in one of the main buildings (Minerva Building) of the University of Lincoln, UK.

3D LiDAR

1 paper · 0 benchmarks

LiDAR-CS

LiDAR-CS is a dataset for 3D object detection in real traffic.

LiDAR Object Detection Domain Adaptation 3D Object Detection Autonomous Driving

1 paper · 0 benchmarks

LiPC (LiDAR Point Cloud Clustering Benchmark Suite)

LiPC (LiDAR Point Cloud Clustering Benchmark Suite) is a benchmark suite for point cloud clustering algorithms based on open-source software and open datasets.

3D LiDAR

1 paper · 0 benchmarks

MVX (Multimodal V2X)

MVX incorporates realistic physical world simulation with a differentiable accurate ray tracing wireless simulation that includes multi-agent and multimodal datasets for AI-driven digital twin applications in vehicular communication…

Images Videos Tabular LiDAR 3D Object Detection Autonomous Vehicles Intelligent Communication Semantic Communication Beam Prediction Optimize the trajectory of UAV which plays a BS in communication system

1 paper · 1 benchmark

Matador (Matador: A Material Image Dataset)

The Matador dataset is a material image dataset with hierarchical labels.

Images RGB-D LiDAR Material Recognition

1 paper · 0 benchmarks

MuSoHu (Toward human-like social robot navigation: A large-scale, multi-modal, social human navigation dataset)

A large-scale, egocentric, multimodal, and context-aware dataset of human demonstrations of social navigation.

Videos 3D Point cloud RGB-D Actions Stereo LiDAR

1 paper · 0 benchmarks

Near-Collision

Near-Collision is a large-scale dataset of 13,658 egocentric video snippets of humans navigating in indoor hallways.

Videos Point cloud LiDAR

1 paper · 0 benchmarks

Polarimetric Imaging for Perception

The dataset includes polarimetric, RGB and depth automotive (on the road) data.

Images LiDAR Monocular Depth Estimation Road Segmentation

1 paper · 0 benchmarks

PolyU-BPCoMa (HK PolyU Backpack Colorized Mapping)

PolyU-BPCoMa: A Dataset and Benchmark Towards Mobile Colorized Mapping Using a Backpack Multisensorial System

Images 3D LiDAR Simultaneous Localization and Mapping

1 paper · 0 benchmarks

Remote Flash LiDAR Vehicles Dataset

This dataset includes 3D point-cloud and 2D imagery from a flash LiDAR...

Images Videos 3D Point cloud LiDAR Object Tracking 3D Object Detection 3D Classification 3D Object Classification Segmentation Remote Sensing Image Classification

1 paper · 1 benchmark

Robot@Home2 (Robot@Home2, a robotic dataset of home environments)

Robot@Home2, is an enhanced version aimed at improving usability and functionality for developing and testing mobile robotics and computer vision algorithms.

Images Videos 3D Point cloud 3d meshes RGB Video LiDAR

1 paper · 0 benchmarks

SimBEV

The SimBEV dataset is a collection of 320 scenes spread across all 11 CARLA maps and contains data from a variety of sensors, including five camera types (RGB, semantic segmentation, instance segmentation, depth, and optical flow), lidar,…

Images Point cloud LiDAR 2D Object Detection 2D Semantic Segmentation 3D Object Detection Depth Estimation Bird's-Eye View Semantic Segmentation 3D Object Tracking+2 tasks

1 paper · 3 benchmarks

THÖR

THÖR is a dataset with human motion trajectory and eye gaze data collected in an indoor environment with accurate ground truth for position, head orientation, gaze direction, social grouping, obstacles map and goal coordinates.

LiDAR

1 paper · 0 benchmarks

ULS labeled data (UVA laser scanning labelled las data over tropical moist forest classified as leaf or wood points)

UAV Laser Scanning data collected over neotropical forest (Paracou French Guiana).

3D Point cloud LiDAR LIDAR Semantic Segmentation

1 paper · 1 benchmark

V2AIX (A Multi-Modal Real-World Dataset of ETSI ITS V2X Messages in Public Road Traffic)

Connectivity is a main driver for the ongoing megatrend of automated mobility: future Cooperative Intelligent Transport Systems (C-ITS) will connect road vehicles, traffic signals, roadside infrastructure, and even vulnerable road users,…

Images Point cloud LiDAR

1 paper · 0 benchmarks

iV2V and iV2I+ (AI4Mobile Industrial Wireless Datasets: iV2V and iV2I+)

This dataset provides wireless measurements from two industrial testbeds: iV2V (industrial Vehicle-to-Vehicle) and iV2I+ (industrial Vehicular-to-Infrastructure plus sensor).

Point cloud Tabular Time series LiDAR Intelligent Communication Connectivity Estimation

1 paper · 0 benchmarks

nuScenes (Cross-City UDA)

A cross-city UDA benchmark built upon nuScenes.

3D Point cloud LiDAR Unsupervised Domain Adaptation LIDAR Semantic Segmentation

1 paper · 0 benchmarks

InLUT3D (Indoor Lodz University of Technology Point Cloud Dataset)

This dataset called Indoor Lodz University of Technology Point Cloud Dataset (InLUT3D) is a point cloud set tailored for real object classification and both semantic and instance segmentation tasks.

Graphs 3D Point cloud LiDAR 3D Semantic Segmentation 3D Instance Segmentation 3D Classification

0 papers · 0 benchmarks

KAIST multi-spectral Day/Night 2018

We introduce the KAIST multi-spectral dataset, which covers a greater range of drivable regions, from urban to residential, for autonomous systems.

Images Stereo LiDAR Pedestrian Detection

0 papers · 0 benchmarks

LiSu (LiSu: A Dataset and Method for LiDAR Surface Normal Estimation)

We present LiSu, a novel synthetic LiDAR dataset targeted for research on surface normal estimation.

LiDAR Surface Normals Estimation from Point Clouds

0 papers · 0 benchmarks

MapAI Dataset

MapAI: Precision in Building Segmentation Dataset The dataset comprises 7500 training images and 1500 validation images from Denmark.

Images LiDAR Image Segmentation Extracting Buildings In Remote Sensing Images

0 papers · 0 benchmarks

Multi-Spectral Stereo Dataset (RGB, NIR, thermal images, LiDAR, GPS/IMU)

Abstract: We introduce the multi-spectral stereo (MS2) outdoor dataset, including stereo RGB, stereo NIR, stereo thermal, stereo LiDAR data, and GPS/IMU information.

Images Point cloud Stereo LiDAR Depth Estimation Visual Odometry Depth Completion Thermal Image Segmentation Stereo Depth Estimation Depth Prediction

0 papers · 0 benchmarks

Multifog KITTI dataset

we propose the augmented KITTI dataset with fog for both camera and LiDAR sensors with different visibility ranges from 20 to 80 meters to best match realistic fog environment.

Images Point cloud LiDAR

0 papers · 0 benchmarks

OUTBACK: A Multimodal Synthetic Dataset for Rural Australian Off-road Robot Navigation

One of the most important aspects of robot scene understanding is semantic segmentation of external environments.

Images LiDAR Semantic Segmentation

0 papers · 0 benchmarks

Robot@Home dataset

Images Videos RGB-D LiDAR

0 papers · 0 benchmarks

Sparse LiDAR KITTI dataset

Sparse LiDAR extracted from velodyne 64 beams in KITTI dataset.

Point cloud LiDAR

0 papers · 0 benchmarks

USYD CAMPUS

USYD CAMPUS is a driving dataset collected by Zhou et al at the University of Sydney (USyd) campus and surroundings.

Images LiDAR

0 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 49–94 of 94