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3D Object Detection datasets
archive 2025-07-2867 datasets carry the task tag "3D Object Detection" (the task itself: 3D Object Detection), ordered by the archive's paper count. Page 1 of 2: 48 shown of 67. 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 50 task tags shown of 3,717, by dataset count; the full filter by modality, task and language is on /datasets
All 12,172
Question Answering 413Semantic Segmentation 347Object Detection 332Image Classification 283Classification 222Text Classification 167Language Modelling 166Text Generation 162Visual Question Answering (VQA) 144Named Entity Recognition (NER) 130Pose Estimation 124Anomaly Detection 119Action Recognition 115Instance Segmentation 111Sentiment Analysis 104Text Summarization 98Domain Adaptation 96Speech Recognition 96Reading Comprehension 95Information Retrieval 932D Object Detection 92Image Retrieval 87Machine Translation 82Relation Extraction 822D Semantic Segmentation 81Natural Language Inference 81Image Captioning 79Image Generation 79Depth Estimation 77Node Classification 75Natural Language Understanding 72Autonomous Driving 70Code Generation 70Object Tracking 693D Object Detection 67Face Recognition 67Link Prediction 67Person Re-Identification 65Data Augmentation 63Multi-Task Learning 593D Reconstruction 58Common Sense Reasoning 56Recommendation Systems 56Video Understanding 56Optical Character Recognition (OCR) 55Graph Classification 54Abstractive Text Summarization 52Emotion Recognition 52Medical Image Segmentation 52Word Embeddings 52
3D Object Detection datasets 1–48 of 67
KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute) is one of the most popular datasets for use in mobile robotics and autonomous driving.
3,661 papers · 137 benchmarks
The nuScenes dataset is a large-scale autonomous driving dataset.
2,139 papers · 21 benchmarks
ScanNet is an instance-level indoor RGB-D dataset that includes both 2D and 3D data.
1,595 papers · 21 benchmarks
NYUv2 (NYU-Depth V2)
The NYU-Depth V2 data set is comprised of video sequences from a variety of indoor scenes as recorded by both the RGB and Depth cameras from the Microsoft Kinect.
986 papers · 16 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 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.
481 papers · 16 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
Argoverse 2 (AV2) is a collection of three datasets for perception and forecasting research in the self-driving domain.
185 papers · 3 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
ONCE (One Million Scenes)
ONCE (One millioN sCenEs) is a dataset for 3D object detection in the autonomous driving scenario.
87 papers · 1 benchmark
OPV2V is a large-scale open simulated dataset for Vehicle-to-Vehicle perception.
78 papers · 2 benchmarks
ARKitScenes is an RGB-D dataset captured with the widely available Apple LiDAR scanner.
75 papers · 2 benchmarks
PandaSet is a dataset produced by a complete, high-precision autonomous vehicle sensor kit with a no-cost commercial license.
54 papers · 0 benchmarks
The Objectron dataset is a collection of short, object-centric video clips, which are accompanied by AR session metadata that includes camera poses, sparse point-clouds and characterization of the planar surfaces in the surrounding…
48 papers · 0 benchmarks
A novel dataset and benchmark, which features 1482 RGB-D scans of 478 environments across multiple time steps.
44 papers · 4 benchmarks
H3D (Honda Research Institute 3D)
The H3D is a large scale full-surround 3D multi-object detection and tracking dataset.
39 papers · 0 benchmarks
DAIR-V2X is a large-scale, multi-modality, multi-view dataset from real scenarios for VICAD.
38 papers · 2 benchmarks
The A3D dataset is a step forward to make autonomous driving safer for pedestrians and the public in the real world.
37 papers · 0 benchmarks
A large-scale V2X perception dataset using CARLA and OpenCDA
36 papers · 1 benchmark
V2V4Real is a large-scale real-world multi-modal dataset for V2V perception.
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.
34 papers · 2 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
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
🤖 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
ScanNet++ (ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes)
ScanNet++ is a large scale dataset with 450+ 3D indoor scenes containing sub-millimeter resolution laser scans, registered 33-megapixel DSLR images, and commodity RGB-D streams from iPhone.
25 papers · 5 benchmarks
CADC (Canadian Adverse Driving Conditions)
Collected with the Autonomoose autonomous vehicle platform, based on a modified Lincoln MKZ.
23 papers · 0 benchmarks
K-Radar (KAIST-Radar)
KAIST-Radar (K-Radar) is a novel large-scale object detection dataset and benchmark that contains 35K frames of 4D Radar tensor (4DRT) data with power measurements along the Doppler, range, azimuth, and elevation dimensions, together with…
23 papers · 0 benchmarks
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.
20 papers · 2 benchmarks
The View-of-Delft (VoD) dataset is a novel automotive dataset containing 8600 frames of synchronized and calibrated 64-layer LiDAR-, (stereo) camera-, and 3+1D radar-data acquired in complex, urban traffic.
16 papers · 1 benchmark
Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving.
13 papers · 3 benchmarks
PreSIL (Precise Synthetic Image and LiDAR)
Consists of over 50,000 frames and includes high-definition images with full resolution depth information, semantic segmentation (images), point-wise segmentation (point clouds), and detailed annotations for all vehicles and people.
13 papers · 0 benchmarks
SILK (Synth It Like KITTI)
An important factor in advancing autonomous driving systems is simulation.
12 papers · 0 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
Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology.
11 papers · 2 benchmarks
Roadside Perception 3D (Rope3D) is a dataset for autonomous driving and monocular 3D object detection task consisting of 50k images and over 1.5M 3D objects in various scenes, which are captured under different settings including various…
9 papers · 1 benchmark
Are current 3D object tracking methods truely robust enough for low-fidelity depth sensors like the iPhone LiDAR?
8 papers · 2 benchmarks
TruckScenes (MAN TruckScenes)
Autonomous trucking is a promising technology that can greatly impact modern logistics and the environment.
8 papers · 1 benchmark
DOLPHINS (Dataset for Collaborative Perception enabled Harmonious and Interconnected Self-driving)
Vehicle-to-Everything (V2X) network has enabled collaborative perception in autonomous driving, which is a promising solution to the fundamental defect of stand-alone intelligence including blind zones and long-range perception.
7 papers · 0 benchmarks
RCooper (Roadside Cooperative Perception Dataset)
The first real-world, large-scale Roadside Cooperative Perception Dataset, RCooper, is released to bloom research on roadside cooperative perception for practical applications.
7 papers · 0 benchmarks
FAT (Falling Things)
Falling Things (FAT) is a dataset for advancing the state-of-the-art in object detection and 3D pose estimation in the context of robotics.
6 papers · 0 benchmarks
[1]: https://www.projectaria.com/datasets/ase/ "" [2]: https://facebookresearch.github.io/projectariatools/docs/opendatasets/ariasyntheticenvironmentsdataset "" [3]: https://www.projectaria.com/research/ "" Aria Synthetic Environments is a…
5 papers · 2 benchmarks
🤖 Robo3D - The WOD-C Benchmark WOD-C is an evaluation benchmark heading toward robust and reliable 3D perception in autonomous driving.
5 papers · 1 benchmark
aiMotive Dataset (aiMotive Multimodal Dataset)
aiMotive dataset is a multimodal dataset for robust autonomous driving with long-range perception.
5 papers · 1 benchmark
CrashD is a test benchmark for the robustness and generalization of 3D object detection models.
4 papers · 0 benchmarks
Heavy 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.
4 papers · 1 benchmark
We introduce MultiScan, a scalable RGBD dataset construction pipeline leveraging commodity mobile devices to scan indoor scenes with articulated objects and web-based semantic annotation interfaces to efficiently annotate object and part…
4 papers · 1 benchmark
We sample 2025 frames of images from the original KITTI for Mono3DRefer, containing 41,140 expressions in total and a vocabulary of 5,271 words.
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.