The Registry of Open Data on AWS is now available on AWS Data Exchange
All datasets on the Registry of Open Data are now discoverable on AWS Data Exchange alongside 3,000+ existing data products from category-leading data providers across industries. Explore the catalog to find open, free, and commercial data sets. Learn more about AWS Data Exchange

Aurora Multi-Sensor Dataset

autonomous vehicles computer vision deep learning image processing lidar machine learning mapping robotics traffic transportation urban weather


The Aurora Multi-Sensor Dataset is an open, large-scale multi-sensor dataset with highly accurate localization ground truth, captured between January 2017 and February 2018 in the metropolitan area of Pittsburgh, PA, USA by Aurora (via Uber ATG) in collaboration with the University of Toronto. The de-identified dataset contains rich metadata, such as weather and semantic segmentation, and spans all four seasons, rain, snow, overcast and sunny days, different times of day, and a variety of traffic conditions.
The Aurora Multi-Sensor Dataset contains data from a 64-beam Velodyne HDL-64E LiDAR sensor and seven 1920x1200-pixel resolution cameras including a forward-facing stereo pair and five wide-angle lenses covering a 360-degree view around the vehicle.
This data can be used to develop and evaluate large-scale long-term approaches to autonomous vehicle localization. Its size and diversity make it suitable for a wide range of research areas such as 3D reconstruction, virtual tourism, HD map construction, and map compression, among others.
The data was first presented at the International Conference on Intelligent Robots and Systems (IROS) in 2020, where it was nominated as a Finalist for Best Application Paper at the conference.

Update Frequency

This dataset is complete.


This data is intended for non-commercial academic use only. It is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.


A third-party development kit authored by Andrei Bârsan of the University of Toronto, made available under the MIT License, can be found here: Aurora makes no representations as to the functionality or performance of the dev-kit.

Managed By

See all datasets managed by Aurora Operations, Inc..


How to Cite

Aurora Multi-Sensor Dataset was accessed on DATE from

Usage Examples


Resources on AWS

  • Description
    Aurora Multi-Sensor Dataset
    Resource type
    S3 Bucket
    Amazon Resource Name (ARN)
    AWS Region
    AWS CLI Access (No AWS account required)
    aws s3 ls --no-sign-request s3://pit30m/

Edit this dataset entry on GitHub

Tell us about your project