NuScenes by Aptiv

nuScenes (nuTonomy Scenes) is a publicly available multimodal dataset for autonomous driving. This is one of the first datasets that carries a full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar sensor, all with 360 degree full view. The full dataset includes approximately 1.4M camera images, 390k LIDAR sweeps, 1.4M RADAR sweeps, and 1.4M object bounding boxes in 40k keyframes, primarily from 2 different cities: Boston and Singapore.

https://www.nuscenes.org/overview