Data Download

We list different parts of the AIODrive dataset for users to download. One can choose to download only the part of data that is useful to your experiments. For instructions on how to setup and use different part of the data, please check out our data collection process, annotation format, and tutorial code. The following files are available for download:

Due to the huge size of the full dataset, we provide a mini dataset, which is a subset (one sequence with 1000 frames) of training data used to explore and visualizaing the data without having to download the entire dataset.

  • Sensor data
    • RGB images
    • Depth images
    • IMU/GPS
    • LiDAR velodyne
    • LiDAR dense level1
    • LiDAR dense level2
    • Radar
    • Calibration
  • Ground Truth
    • Object boxes and classes
    • Image panoptic segmentation
    • Point cloud panoptic segmentation
    • Motion and control
Download link
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Size
9.47 GB
3.67 GB
438.88 KB
1.27 GB
5.58 GB
8.92 GB
667.91 MB
49.61 MB

259.21 MB
140.02 MB
115.39 MB
35.82 MB

We split the full dataset into trainval and test sets. We release the sensor data for both trainval and test sets but only release the ground truth for the trainval set. The ground truth for the test set is withheld for fair evaluation. Also, we split sensor data into different modalities and one can download only the modalities needed for the appraoch as the full dataset is large.

  • Trainval
    • Sensor data
      • RGB images (front)
      • RGB images (stereo)
      • RGB images (others)
      • Depth images (front)
      • Depth images (others)
      • IMU/GPS
      • LiDAR velodyne
      • LiDAR dense level1
      • LiDAR dense level2
      • Radar
      • Calibration
    • Ground truth
      • Object boxes and classes
      • Image segmentation
      • Point cloud segmentation
      • Motion and control
  • Test
    • Sensor data
      • RGB images (front)
      • RGB images (stereo)
      • RGB images (others)
      • Depth images (front)
      • Depth images (others)
      • IMU/GPS
      • LiDAR velodyne
      • LiDAR dense level1
      • LiDAR dense level2
      • Radar
      • Calibration

Download link
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Size
70 Gb per part
70 Gb per part
40 Gb per part
54.37 Gb
30 Gb per part
34 Mb
86.87 Gb
40 Gb per part
60 Gb per part
43 Gb
3.12 Gb

16.24 Gb
9.74 Gb
6.86 Gb
2.25 Gb


59.52 Gb
59.54 Gb
26 Gb per part
30.94 Gb
25 Gb per part
15.69 Mb
36.61 Gb
30 Gb per part
30 Gb per part
16.62 Gb
1.12 Gb