奥迪自动驾驶数据Audi Autonomous Driving Dataset】Research in machine learning, mobile robotics, and autonomous driving is accelerated by the availability of highquality annotated data. To this end, we release the AudiAutonomous Driving Dataset (A2D2). Our dataset consists of simultaneously recorded images and 3D point clouds,together with 3D bounding boxes, semantic segmentation, instance segmentation, and data extracted from the automotivebus. Our sensor suite consists of six cameras and five LiDAR units, providing full 360◦coverage. The recorded datais time synchronized and mutually registered. Annotationsare for non-sequential frames: 41,277 frames with semanticsegmentation image and point cloud labels, of which 12,497frames also have 3D bounding box annotations for objectswithin the field of view of the front camera. In addition, weprovide 392,556 sequential frames of unannotated sensordata for recordings in three cities in the south of Germany.These sequences contain several loops. Faces and vehiclenumber plates are blurred due to GDPR legislation and topreserve anonymity. A2D2 is made available under the CCBY-ND 4.0 license, permitting commercial use subject tothe terms of the license. Data and further information areavailable at http://www.a2d2.audi.