data_lidar

This dataset contains the nuScenes samples/LIDAR_TOP keyframe point clouds: 40,157 .pcd.bin files totaling 27,885,183,360 bytes (25.97 GiB). It includes trainval and test keyframes. Intermediate LiDAR sweeps, camera images, and nuScenes metadata tables are not included.

Files are packaged into 41 tar shards, with up to 1,000 point clouds per shard. Point-cloud contents are unchanged. Extraction restores the original filenames under samples/LIDAR_TOP/. Archive timestamps and permissions have been normalized.

The repository is public. Download access requires a request and manual approval by the repository owner.

After downloading all files, run these commands from the download directory:

sha256sum -c SHA256SUMS
mkdir -p extracted
for archive in shards/lidar-top-*.tar; do
    tar -xf "$archive" -C extracted
done

The point clouds will be available in extracted/samples/LIDAR_TOP/. manifest.json records shard sizes and checksums. files.jsonl records each original file's path, size, SHA-256 checksum, and containing shard.

Original source: nuScenes, published by Motional / nuTonomy. This repository is an unofficial sharded copy. The data remains subject to the included original LICENSE, including its non-commercial restriction and additional terms. This repository does not relicense the data.