Waymo

Having collected over 10M autonomous miles in 25 different cities, Waymo opened its high-quality multimodal sensor dataset to the research community. Besides the size and coverage, this dataset also contains diverse driving environments, dense labelling, a 360 view, and camera-lidar synchronization that is good for 2D and 3D perception, domain adaptation, scene understanding, and behavior prediction.

https://waymo.com/open/