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Point cloud datasets
archive 2025-07-28134 datasets carry the modality tag "Point cloud", ordered by the archive's paper count. Page 1 of 3: 48 shown of 134. 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.
Filter 39 modality tags shown of 39, by dataset count; the full filter by modality, task and language is on /datasets
All 12,172
Images 3,239Texts 3,130Videos 1,014Audio 480Medical 3943D 380Time series 294Graphs 282Tabular 267Speech 197RGB-D 190Environment 147Point cloud 134Biomedical 122LiDAR 94RGB Video 87Tracking 77Biology 70Actions 673d meshes 64Tables 50Music 47EEG 44Hyperspectral images 44Stereo 44MRI 39Physics 32Interactive 29Dialog 25Midi 226D 17Replay data 11Financial 10Ranking 10Cad 9fMRI 7Parallel 6Lyrics 2PSG 2
Point cloud datasets 1–48 of 134
The nuScenes dataset is a large-scale autonomous driving dataset.
2,139 papers · 21 benchmarks
ShapeNet is a large scale repository for 3D CAD models developed by researchers from Stanford University, Princeton University and the Toyota Technological Institute at Chicago, USA.
1,947 papers · 13 benchmarks
The ModelNet40 dataset contains synthetic object point clouds.
1,406 papers · 15 benchmarks
S3DIS (Stanford 3D Indoor Scene Dataset (S3DIS))
The Stanford 3D Indoor Scene Dataset (S3DIS) dataset contains 6 large-scale indoor areas with 271 rooms.
488 papers · 9 benchmarks
The SUN RGBD dataset contains 10335 real RGB-D images of room scenes.
477 papers · 11 benchmarks
Argoverse is a tracking benchmark with over 30K scenarios collected in Pittsburgh and Miami.
386 papers · 6 benchmarks
ScanObjectNN is a newly published real-world dataset comprising of 2902 3D objects in 15 categories.
337 papers · 6 benchmarks
BSDS500 (Berkeley Segmentation Dataset 500)
Berkeley Segmentation Data Set 500 (BSDS500) is a standard benchmark for contour detection.
261 papers · 8 benchmarks
SUN3D contains a large-scale RGB-D video database, with 8 annotated sequences.
126 papers · 0 benchmarks
For many fundamental scene understanding tasks, it is difficult or impossible to obtain per-pixel ground truth labels from real images.
108 papers · 4 benchmarks
ReferIt3D provides two large-scale and complementary visio-linguistic datasets: i) Sr3D, which contains 83.5K template-based utterances leveraging spatial relations among fine-grained object classes to localize a referred object in a…
104 papers · 1 benchmark
The SemanticPOSS dataset for 3D semantic segmentation contains 2988 various and complicated LiDAR scans with large quantity of dynamic instances.
71 papers · 1 benchmark
OmniObject3D is a large vocabulary 3D object dataset with massive high-quality real-scanned 3D objects.
70 papers · 0 benchmarks
Semantic3D is a point cloud dataset of scanned outdoor scenes with over 3 billion points.
66 papers · 1 benchmark
MVTEC 3D-AD (THE MVTEC 3D ANOMALY DETECTION DATASET)
MVTec 3D Anomaly Detection Dataset (MVTec 3D-AD) is a comprehensive 3D dataset for the task of unsupervised anomaly detection and localization.
45 papers · 4 benchmarks
KITTI Road is road and lane estimation benchmark that consists of 289 training and 290 test images.
41 papers · 0 benchmarks
Our project (STPLS3D) aims to provide a large-scale aerial photogrammetry dataset with synthetic and real annotated 3D point clouds for semantic and instance segmentation tasks.
36 papers · 3 benchmarks
The Completion3D benchmark is a dataset for evaluating state-of-the-art 3D Object Point Cloud Completion methods.
33 papers · 1 benchmark
MVP (Multi-View Partial point cloud)
MVP is a multi-view partial point cloud dataset (MVP) containing over 100,000 high-quality scans, which renders partial 3D shapes from 26 uniformly distributed camera poses for each 3D CAD model.
33 papers · 0 benchmarks
🤖 Robo3D - The nuScenes-C Benchmark nuScenes-C is an evaluation benchmark heading toward robust and reliable 3D perception in autonomous driving.
33 papers · 2 benchmarks
ModelNet40-C (ModelNet-C)
ModelNet40-C is a comprehensive dataset to benchmark the corruption robustness of 3D point cloud recognition.
32 papers · 2 benchmarks
V2X-Sim, short for vehicle-to-everything simulation, is the a synthetic collaborative perception dataset in autonomous driving developed by AI4CE Lab at NYU and MediaBrain Group at SJTU to facilitate collaborative perception between…
32 papers · 1 benchmark
Dex-Net 2.0 (Dexterity Network 2.0)
Dex-Net 2.0 is a dataset associating 6.7 million point clouds and analytic grasp quality metrics with parallel-jaw grasps planned using robust quasi-static GWS analysis on a dataset of 1,500 3D object models.
30 papers · 0 benchmarks
🤖 Robo3D - The KITTI-C Benchmark KITTI-C is an evaluation benchmark heading toward robust and reliable 3D object detection in autonomous driving.
30 papers · 1 benchmark
The SensatUrbat dataset is an urban-scale photogrammetric point cloud dataset with nearly three billion richly annotated points, which is five times the number of labeled points than the existing largest point cloud dataset.
28 papers · 1 benchmark
WPC (Waterloo Point Cloud)
The WPC (Waterloo Point Cloud) database is a dataset for subjective and objective quality assessment of point clouds.
28 papers · 1 benchmark
RadarScenes is a real-world radar point cloud dataset for automotive applications.
27 papers · 0 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.
26 papers · 2 benchmarks
🤖 Robo3D - The SemanticKITTI-C Benchmark SemanticKITTI-C is an evaluation benchmark heading toward robust and reliable 3D semantic segmentation in autonomous driving.
26 papers · 1 benchmark
VOID (Visual Odometry with Inertial and Depth)
The dataset was collected using the Intel RealSense D435i camera, which was configured to produce synchronized accelerometer and gyroscope measurements at 400 Hz, along with synchronized VGA-size (640 x 480) RGB and depth streams at 30 Hz.
26 papers · 1 benchmark
Toronto-3D is a large-scale urban outdoor point cloud dataset acquired by an MLS system in Toronto, Canada for semantic segmentation.
24 papers · 2 benchmarks
HPS (Human POSEitioning System Dataset)
HPS Dataset is a collection of 3D humans interacting with large 3D scenes (300-1000 m², up to 2500 m²).
23 papers · 0 benchmarks
Real 3D-AD is the first point cloud anomaly detection dataset for industrial products.
23 papers · 2 benchmarks
SHREC'19 (SHREC'19 track Matching Humans with Different Connectivity)
Shape matching plays an important role in geometry processing and shape analysis.
20 papers · 1 benchmark
SynLiDAR is a large-scale synthetic LiDAR sequential point cloud dataset with point-wise annotations.
20 papers · 1 benchmark
SCAND (Socially CompliAnt Navigation Dataset)
Have you wondered how autonomous mobile robots should share space with humans in public spaces?
18 papers · 0 benchmarks
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.
15 papers · 0 benchmarks
The KITTI-Depth dataset includes depth maps from projected LiDAR point clouds that were matched against the depth estimation from the stereo cameras.
14 papers · 0 benchmarks
A Multi-Task 4D Radar-Camera Fusion Dataset for Autonomous Driving on Water Surfaces description of the dataset WaterScenes, the first multi-task 4D radar-camera fusion dataset on water surfaces, which offers data from multiple sensors,…
13 papers · 2 benchmarks
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…
12 papers · 2 benchmarks
4D-OR includes a total of 6734 scenes, recorded by six calibrated RGB-D Kinect sensors 1 mounted to the ceiling of the OR, with one frame-per-second, providing synchronized RGB and depth images.
11 papers · 3 benchmarks
JetClass (A Large-Scale Dataset for Deep Learning in Jet Physics)
JetClass is a new large-scale dataset to facilitate deep learning research in particle physics.
11 papers · 1 benchmark
JetNet is a particle cloud dataset, containing gluon, top quark, light quark jets saved in .csv format.
11 papers · 0 benchmarks
BLVD is a large scale 5D semantics dataset collected by the Visual Cognitive Computing and Intelligent Vehicles Lab.
9 papers · 0 benchmarks
3DCSR dataset (3D cross-source point cloud registration dataset)
Cross-source point cloud dataset for registration task.
8 papers · 0 benchmarks
Building3D is an urban-scale dataset consisting of more than 160 thousands buildings along with corresponding point clouds, mesh and wireframe models, covering 16 cities in Estonia about 998 Km2.
8 papers · 0 benchmarks
HANDAL (HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions)
We present the HANDAL dataset for category-level object pose estimation and affordance prediction.
8 papers · 0 benchmarks
TruckScenes (MAN TruckScenes)
Autonomous trucking is a promising technology that can greatly impact modern logistics and the environment.
8 papers · 1 benchmark
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.