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The dataset features 2D semantic segmentation, 3D point clouds, 3D bounding boxes, and vehicle bus data. Dataset includes more than 40,000 frames with semantic segmentation image and point cloud labels, of which more than 12,000 frames also have annotations for 3D bounding boxes. In addition, we provide unlabelled sensor data (approx. 390,000 frames) for sequences with several loops, recorded in three cities. A2D2 is around 2.3 TB in total.