A2D2 Dataset

The Audi Autonomous Driving Dataset (A2D2) contains sensor data of an Audi Q7 e-tron for three test drives. A comprehensive description can be found in the A2D2 paper released by the Audi team.

Sensor Setup

The sensor setup is described in more detail on the A2D2 page.

A2D2 Sensor Setup (top view) — Top view of sensor setup for the A2D2 dataset (src: www.a2d2.audi)

Sensor	Location	Type
Camera	Front-center	Sekonix-SF3325-100
Camera	Front-left	Sekonix-SF3324-100
Camera	Front-right	Sekonix-SF3324-100
Camera	Side-left	Sekonix-SF3324-100
Camera	Side-right	Sekonix-SF3324-100
Camera	Rear-center	Sekonix-SF3324-100
LiDAR	Front-center	Velodyne-VLP-16
LiDAR	Front-left	Velodyne-VLP-16
LiDAR	Front-right	Velodyne-VLP-16
LiDAR	Rear-left	Velodyne-VLP-16
LiDAR	Rear-right	Velodyne-VLP-16

Driving Areas

The GPS trajectories of the A2D2 datasets are visualized with a virtual globe using the 3DCityDB-Web-Map-Client. Open them by clicking on the images (Chrome is recommended).

Munich

_images/virtual_globe_munich.jpg — A2D2 trajectory of Munich

Ingolstadt

_images/virtual_globe_ingolstadt.jpg — A2D2 trajectory of Ingolstadt

Gaimersheim

_images/virtual_globe_gaimersheim.jpg — A2D2 trajectory of Gaimersheim