Lyft Level 5 Dataset

A good source for Autonomous Vehicle data, The Level 5 Dataset includes over 55,000 human-labeled 3D annotated frames, surface map, and an underlying HD spatial semantic map that is captured by 7 cameras and up to 3 Lidar sensors that can be used to contextualize the data. Note that this dataset uses nuScenes format.

https://level5.lyft.com/dataset/