# A2D2: Audi Autonomous Driving Dataset

arXiv: https://arxiv.org/abs/2004.06320 · HTML: https://mlsanity.com/paper/2004.06320/

## Key facts

- Cited by 190 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Apr 2020.

## Built on by (most cited first, 30 of 190)

- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [UniDepth: Universal Monocular Metric Depth Estimation](https://mlsanity.com/paper/2403.18913/) (2024)
- [DSEC: A Stereo Event Camera Dataset for Driving Scenarios](https://mlsanity.com/paper/2103.06011/) (2021)
- [MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Details](https://mlsanity.com/paper/2507.02546/) (2025)
- [One Million Scenes for Autonomous Driving: ONCE Dataset](https://mlsanity.com/paper/2106.11037/) (2021)
- [UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler](https://mlsanity.com/paper/2502.20110/) (2025)
- [Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking](https://mlsanity.com/paper/2109.03805/) (2021)
- [Panoptic NeRF: 3D-to-2D Label Transfer for Panoptic Urban Scene Segmentation](https://mlsanity.com/paper/2203.15224/) (2022)
- [Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipe](https://mlsanity.com/paper/2209.05324/) (2022)
- [Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives](https://mlsanity.com/paper/2303.09824/) (2023)
- [Panoptic-PolarNet: Proposal-free LiDAR Point Cloud Panoptic Segmentation](https://mlsanity.com/paper/2103.14962/) (2021)
- [Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weather](https://mlsanity.com/paper/2108.05249/) (2021)
- [Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous driving](https://mlsanity.com/paper/2305.02008/) (2023)
- [Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Task](https://mlsanity.com/paper/2203.13608/) (2022)
- [MM-TTA: Multi-Modal Test-Time Adaptation for 3D Semantic Segmentation](https://mlsanity.com/paper/2204.12667/) (2022)
- [Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys](https://mlsanity.com/paper/2303.17220/) (2023)
- [SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving](https://mlsanity.com/paper/2306.09001/) (2023)
- [3D Object Detection from Images for Autonomous Driving: A Survey](https://mlsanity.com/paper/2202.02980/) (2022)
- [A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlook](https://mlsanity.com/paper/2401.01454/) (2024)
- [UniK3D: Universal Camera Monocular 3D Estimation](https://mlsanity.com/paper/2503.16591/) (2025)
- [EPMF: Efficient Perception-aware Multi-sensor Fusion for 3D Semantic Segmentation](https://mlsanity.com/paper/2106.15277/) (2021)
- [Waymo Open Dataset: Panoramic Video Panoptic Segmentation](https://mlsanity.com/paper/2206.07704/) (2022)
- [Semantics for Robotic Mapping, Perception and Interaction: A Survey](https://mlsanity.com/paper/2101.00443/) (2021)
- [STPLS3D: A Large-Scale Synthetic and Real Aerial Photogrammetry 3D Point Cloud Dataset](https://mlsanity.com/paper/2203.09065/) (2022)
- [Explainable AI for Safe and Trustworthy Autonomous Driving: A Systematic Review](https://mlsanity.com/paper/2402.10086/) (2024)
- [SensatUrban: Learning Semantics from Urban-Scale Photogrammetric Point Clouds](https://mlsanity.com/paper/2201.04494/) (2022)
- [A Survey on Deep Domain Adaptation for LiDAR Perception](https://mlsanity.com/paper/2106.02377/) (2021)
- [Sparse-to-dense Feature Matching: Intra and Inter domain Cross-modal Learning in Domain Adaptation for 3D Semantic Segmentation](https://mlsanity.com/paper/2107.14724/) (2021)
- [ConDA: Unsupervised Domain Adaptation for LiDAR Segmentation via Regularized Domain Concatenation](https://mlsanity.com/paper/2111.15242/) (2021)

## 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/.