LiDAR Detection and Segmentation Datasets Detection Datasets Outdoor (Point Cloud data) KITTI 3D Object Detection Evaluation 2017 KITTI Bird's Eye View Evaluation 2017 nuScenes Waymo Lyft apolloscape Indoor (RGB-D data) The Stanford Large-Scale 3D Indoor Spaces Dataset (S3DIS) Richly-annotated 3D Reconstructions of Indoor Scenes (ScanNet) SUN RGB-D: A RGB-D Scene Understanding Benchmark Suite NYU Depth Dataset V2 Segmentation Datasets