A*3D

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).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.