Overview

A*3D dataset is a step forward to make autonomous driving safer for pedestrians and the public in the real world.

• 230K human-labeled 3D object annotations in 39,179 LiDAR point cloud frames and corresponding frontal-facing RGB images.
• Captured at different times (day, night) and weathers (sun, cloud, rain).

Data Collection

• The data collection covers the entire Singapore including highways, neighborhood roads, tunnels, urban, suburban, industrial, HDB car parks, coastline, etc.

• NuScenes only covers a small portion of Singapore roads (highlighted in red).

  

Citation

Please use the following citation when referencing the dataset:

@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}
}