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I am working on 3D object detection in the context of self driving cars and I was wondering if there are other challenging benchmarks for this beside Kitti.

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You may find Apolloscape dataset interesting. It was recently released by Baidu. From the article describing the dataset:

In this paper, we present a large-scale open dataset, ApolloScape, that consists of RGB videos and corresponding dense 3D point clouds.

Apart from the article, there have been some blog posts with summarized information on the dataset.

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