Complex Urban Data Set

Jinyong Jeong, Younggun Cho, Young-Sik Shin, Hyunchul Roh and Ayoung Kim

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This data set provides Light Detection and Ranging (LiDAR) data and stereo image with various position sensors targeting a highly complex urban environment. The presented data set captures features in urban environments (e.g. metropolis areas, complex buildings and residential areas). The data of 2D and 3D LiDAR are provided, which are typical types of LiDAR sensors. Raw sensor data for vehicle navigation is presented in a file format. For convenience, development tools are provided in the Robot Operating System (ROS) environment.


Please post any questions related to datasets or development tools in the git issue of file_player repository. Here is the link:


1. Jinyong Jeong, Younggun Cho, Young-Sik Shin, Hyunchul Roh and Ayoung Kim, "Complex Urban Dataset with Multi-level Sensors from Highly Diverse Urban Environments" The International Journal of Robotics Research, 2019, Accepted.

2. Jinyong Jeong, Lucas Y. Cho, and Ayoung Kim. "Road is Enough! Extrinsic Calibration of Non-overlapping Stereo Camera and LiDAR using Road Information." arXiv preprint arXiv:1902.10586 (2019), Submitted, Under review.

3. Jinyong Jeong, Younggun Cho, Young-Sik Shin, Hyunchul Roh and Ayoung Kim, "Complex Urban LiDAR Data Set" In Proceedings of the IEEE International Conference on Robotics and Automation, 2018. p.6344-6351.


title={Complex urban dataset with multi-level sensors from highly diverse urban environments},
author={Jeong, Jinyong and Cho, Younggun and Shin, Young-Sik and Roh, Hyunchul and Kim, Ayoung},
journal={The International Journal of Robotics Research},
publisher={SAGE Publications Sage UK: London, England}


All datasets on this page are copyrighted by KAIST and Naver Labs and published under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 License. You must attribute the work in the manner specified by the author. You may not use the work for commercial purposes, and you may only distribute the resulting work under the same license if you alter, transform, or create the work.


This dataset is for non-commercial use only. However, if you find yourself or your personal belongings in the data, please contact us, and we will immediately remove the respective images from our servers.


This data set is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE), Korea under Industrial Technology Innovation Program (No.10051867) and SLAM-based Lane Map Generation for Complex Urban Environment project funded by Naver Labs Corporation.


  • 06.17.2019: Update baseline pose and pointcloud data of Urban00 ~ Urban17
  • 06.04.2019: Update new dataset (Urban38, 39), Update refined extrinsic calibration parameter of stereo camera.
  • 03.07.2019: Update dataset including stereo image.
  • 02.05.2018: Update title of webpage.
  • 04.25.2018: Upload additional data (urban10~urban17).
  • 04.14.2018: Upload additional data (urban06~urban09).
  • 04.14.2018: Update Las data and baseline data of urban00~05.
  • 02.25.2018: Stabilized version of dataset are reuploaded.
  • 02.25.2018: New dataset of KAIST campus is uploaded.
  • 09.13.2017: Initial dataset are uploaded.