A2D2 is around 2.3 TB in total. It is split by annotation type (i.e. semantic segmentation, 3D bounding box), to break up the download into smaller packages. Each split is packaged into a single tar file, while the remaining unlabelled sequence data is split into multiple tar files.


Please cite as follows:


title={{A2D2: Audi Autonomous Driving Dataset}},

author={Jakob Geyer and Yohannes Kassahun and Mentar Mahmudi and Xavier Ricou and Rupesh Durgesh and Andrew S. Chung and Lorenz Hauswald and Viet Hoang Pham and Maximilian M{\"u}hlegg and Sebastian Dorn and Tiffany Fernandez and Martin J{\"a}nicke and Sudesh Mirashi and Chiragkumar Savani and Martin Sturm and Oleksandr Vorobiov and Martin Oelker and Sebastian Garreis and Peter Schuberth},





url = {}




Sensor Fusion Data


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