CARD – Cariad Road Dataset

This page is the central index for all CARD dataset releases.
Each sub-dataset has its own repository linked below.

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What is CARD?

CARD is a multi-modal driving dataset designed for research in depth estimation, 3D reconstruction, object detection, and related autonomous-driving tasks. Data was recorded across Germany & Italy and conditions using a calibrated stereo camera rig paired with 2x LiDAR and IMU, yielding rich synchronized multi-modal recordings.

Key properties:

• 🎥 Stereo camera images (cam_0 / cam_1) at full resolution
• 📡 LiDAR point clouds + IMU signals
• 🏷️ YOLO-format bounding-box annotations
• 📐 Aggregated depth point clouds (agg_depth/) for dense ground-truth depth, which are quasi-dense 3D ground-truth, processed by aggregation of the lidar, while removing dynamic objects artifacts
• 🕐 Temporal consistency – all modalities share synchronized timestamps
• 🔒 Privacy-preserved – faces and license plates anonymized

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Dataset Index

Note: Sequences prefixed with unused_ in any sub-dataset are not part of any official train / val / test split and are provided for zero-shot testing purposes,as an example some sequences which has "slam" in their name often involve multiple loops, which we think will be helpful in SLAM evaluations.

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Data Format

Every sequence across all sub-datasets follows the same folder structure:

<dataset>/<sequence>/
├── img/
│   ├── cam_0/          # Left camera images
│   └── cam_1/          # Right camera images
├── raw/                # LiDAR point clouds + IMU signals
├── labels/             # YOLO-format bounding-box annotations
├── export/             # Trajectory, calibration, and metadata
└── agg_depth/          # Aggregated depth point clouds (dense GT depth)

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Splits

Official train / val / test splits are provided as part of the CARD-SDK development kit.

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License and Usage Terms

We have taken reasonable measures to remove personally identifiable information (e.g., faces and license plates). To request removal of specific images from the dataset, please contact gasser.elazab@cariad.technology.

The purpose of the CARD project is to help improve road safety and make driving safer. We encourage use of this dataset toward that goal, and it is forbidden to use it for any military use.

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Development Kit

A development kit (CARD-SDK) with tools to load, visualize, and evaluate on the CARD datasets is going to be released soon.

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Citation

If you use any CARD sub-dataset in your work, please cite the corresponding entry:

@inproceedings{elazab2025card,
  title={CARD: A Multi-Modal Automotive Dataset for Dense 3D Reconstruction in Challenging Road Topography},
  author={Elazab, Gasser and Neuhaus, Frank and Ko{ss}, Tilman and Splietker, Malte and Date, Aditya and Unterreiner, Michael and Jansen, Maximilian and Hellwich, Olaf},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2026}
}
}