A*3D is an autonomous driving dataset for complex environments, which aims to improve the safety of autonomous driving for pedestrians and the public in the real world. The dataset has the following characteristics:

• 230,000 human-annotated 3D object annotations (present in 39,179 LiDAR point cloud frames and corresponding frontal RGB images)
• Different collection times (day, night) and weather (sunny, cloudy, rainy)

Citation

@INPROCEEDINGS{astar-3d,
Author = {Quang-Hieu Pham, Pierre Sevestre, Ramanpreet Singh Pahwa, Huijing Zhan, Chun Ho Pang, Yuda Chen, Armin Mustafa, Vijay Chandrasekhar, Jie Lin},
Title = {A*3D Dataset: Towards Autonomous Driving in Challenging Environments},
Booktitle = {Proc. of The International Conference in Robotics and Automation (ICRA)},
Year = {2020}
}