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)