mlsanityData to 7 Oct 2026

A2D2: Audi Autonomous Driving Dataset

arXiv 2004.06320 ↗First posted 14 Apr 2020cs.CV cs.LG eess.IVcited by 189

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Abstract (arXiv)

Research in machine learning, mobile robotics, and autonomous driving is accelerated by the availability of high quality annotated data. To this end, we release the Audi Autonomous Driving Dataset (A2D2). Our dataset consists of simultaneously recorded images and 3D point clouds, together with 3D bounding boxes, semantic segmentation, instance segmentation, and data extracted from the automotive bus. Our sensor suite consists of six cameras and five LiDAR units, providing full 360 degree coverage. The recorded data is time synchronized and mutually registered. Annotations are for non-sequential frames: 41,277 frames with semantic segmentation image and point cloud labels, of which 12,497 frames also have 3D bounding box annotations for objects within the field of view of the front camera. In addition, we provide 392,556 sequential frames of unannotated sensor data for recordings in three cities in the south of Germany. These sequences contain several loops. Faces and vehicle number plates are blurred due to GDPR legislation and to preserve anonymity. A2D2 is made available under the CC BY-ND 4.0 license, permitting commercial use subject to the terms of the license. Data and further information are available at https://a2d2-dataset.github.io/.

Key facts. Cited by 189 papers in the map (data through 7 Oct 2026). First posted on arXiv 14 Apr 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 29; 2022: 27; 2023: 45; 2024: 32; 2025: 39; 2026: 17.

189 papers.

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  1. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  2. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 570
  3. 2024UniDepth: Universal Monocular Metric Depth Estimationcited by 375
  4. 2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 297
  5. 2025MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Detailscited by 250
  6. 2021One Million Scenes for Autonomous Driving: ONCE Datasetcited by 218
  7. 2025UniDepthV2: Universal Monocular Metric Depth Estimation Made Simplercited by 170
  8. 2021Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Trackingcited by 165
  9. 2022Panoptic NeRF: 3D-to-2D Label Transfer for Panoptic Urban Scene Segmentationcited by 152
  10. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  11. 2023Motion Planning for Autonomous Driving: The State of the Art and Future Perspectivescited by 112
  12. 2021Panoptic-PolarNet: Proposal-free LiDAR Point Cloud Panoptic Segmentationcited by 107
38 more
  1. 2021Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weathercited by 95
  2. 2023Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous drivingcited by 83
  3. 2022Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Taskcited by 79
  4. 2022MM-TTA: Multi-Modal Test-Time Adaptation for 3D Semantic Segmentationcited by 76
  5. 2023Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveyscited by 75
  6. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  7. 20223D Object Detection from Images for Autonomous Driving: A Surveycited by 66
  8. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  9. 2025UniK3D: Universal Camera Monocular 3D Estimationcited by 60
  10. 2021EPMF: Efficient Perception-aware Multi-sensor Fusion for 3D Semantic Segmentationcited by 59
  11. 2022Waymo Open Dataset: Panoramic Video Panoptic Segmentationcited by 57
  12. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  13. 2022STPLS3D: A Large-Scale Synthetic and Real Aerial Photogrammetry 3D Point Cloud Datasetcited by 52
  14. 2024Explainable AI for Safe and Trustworthy Autonomous Driving: A Systematic Reviewcited by 52
  15. 2022SensatUrban: Learning Semantics from Urban-Scale Photogrammetric Point Cloudscited by 49
  16. 2021A Survey on Deep Domain Adaptation for LiDAR Perceptioncited by 46
  17. 2021Sparse-to-dense Feature Matching: Intra and Inter domain Cross-modal Learning in Domain Adaptation for 3D Semantic Segmentationcited by 46
  18. 2021ConDA: Unsupervised Domain Adaptation for LiDAR Segmentation via Regularized Domain Concatenationcited by 41
  19. 2025Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysiscited by 37
  20. 2021An Application-Driven Conceptualization of Corner Cases for Perception in Highly Automated Drivingcited by 33
  21. 2024MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertaintycited by 32
  22. 2025Detect Anything 3D in the Wildcited by 32
  23. 2023MedShapeNet -- A Large-Scale Dataset of 3D Medical Shapes for Computer Visioncited by 31
  24. 2023Survey on Unsupervised Domain Adaptation for Semantic Segmentation for Visual Perception in Automated Drivingcited by 29
  25. 2023Data-driven Traffic Simulation: A Comprehensive Reviewcited by 29
  26. 2021IPS300+: a Challenging Multimodal Dataset for Intersection Perception Systemcited by 26
  27. 2021Paris-CARLA-3D: A Real and Synthetic Outdoor Point Cloud Dataset for Challenging Tasks in 3D Mappingcited by 25
  28. 2024DrivingDojo Dataset: Advancing Interactive and Knowledge-Enriched Driving World Modelcited by 25
  29. 2022Are We Ready for Vision-Centric Driving Streaming Perception? The ASAP Benchmarkcited by 24
  30. 2021M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground Robotscited by 23
  31. 2023LiDAR-based 4D Occupancy Completion and Forecastingcited by 23
  32. 2025Advances in Multimodal Adaptation and Generalization: From Traditional Approaches to Foundation Modelscited by 23
  33. 2022SELMA: SEmantic Large-scale Multimodal Acquisitions in Variable Weather, Daytime and Viewpointscited by 22
  34. 2023Open-sourced Data Ecosystem in Autonomous Driving: the Present and Futurecited by 22
  35. 2023LDFA: Latent Diffusion Face Anonymization for Self-driving Applicationscited by 21
  36. 2023Compositional Semantic Mix for Domain Adaptation in Point Cloud Segmentationcited by 20
  37. 2023Learning to Adapt SAM for Segmenting Cross-domain Point Cloudscited by 20
  38. 2021BAAI-VANJEE Roadside Dataset: Towards the Connected Automated Vehicle Highway technologies in Challenging Environments of Chinacited by 19

50 most cited of 189 All 189 (JSON)