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| Name | Release Year | Link | Terms of Use | Access Requirements | Dataset Size | Documentation | Code | Applications | # Scenes | # Epochs per Scene | General Scene Type | Specific Scene Type | Acquisition Type | Scan Interval | Acquisition Months | Data Representation | File Format/Encoding | Raw Data | Coordinate System | Registration | # Partial Epochs | Unusable Data Reason | Splits | Intensity/Reflectivity | Color | Semantic Labels | Instance Labels | Change Labels | # Points per Epoch | Avg. Point Spacing | Avg. Change Points per Epoch | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Minimum | Median | Maximum | Minimum | Median | Maximum | Minimum | Median | Maximum | |||||||||||||||||||||||||||||
| 3DCD | 2022 | Unclear | X | 2.3 GB* | Yes | B | 383* | 2 | 2 | 2 | Urban | City tile | ALS | Years | SG | GeoTIFF | - | 3042 | - | E | Yes | No | Yes | - | No | 2 | 40K | 40K | 40K | 1.0m | 1.0m | 2.3m | 4.59% | ||||
| 3RScan | 2019 | CC BY-NC-SA 4.0 | ATU, CI | 94 GB* | Yes | L,B,O | 432 | 2 | 3 | 12 | Indoor | Single room | DC-V | Minutes to Months | SL | JPG,PGM | - | m | 32.78% | NM, S | Yes | No | Yes | 528* | Yes* | 4 | 59K | 15M | 188M | 1.4mm | 3.5mm | 1.4cm | 10.25% | ||||
| 4D Plant Registration | 2020 | Unclear | X | 211.9 MB | No | R | 6 | 8 | 9 | 9 | Greenhouse | Plant | SLS | Hours | UG | TXT | - | mm | - | - | No | No | No | - | No | - | 123K | 361K | 1M | 31µm | 48µm | 93µm | - | ||||
| AbenbergALS | 2013 | Unclear | X | 270.7 MB* | No | B | 1 | 2 | 2 | 2 | Urban | Town | ALS | Years | UG | TXT | - | m | - | - | No | Yes | No | 4 | No | - | 5M | - | 7M | 2.1dm | - | 2.2dm | - | ||||
| AgScan3D Viticulture | 2021 | CC BY-NC-SA 4.0 | ATU | 26.2 GB* | Yes | V | 5 | 2 | 2 | 3 | Agriculture | Vineyard rows | MLS | Weeks | UG | PLY | ROS bags | m | - | NM | No | No | No | - | No | - | 15M | 19M | 25M | 2.1cm | 2.8cm | 3.0cm | - | ||||
| AHK 1 | 2019 | CC BY-SA 4.0 | CA | 228 MB* | No | G | 1 | 2 | 2 | 2 | Landscape | Rock glacier | TLS | Years | UG | TXT | - | 25832 | 100.00% | - | No | No | No | - | No | - | 9M | - | 17M | 5.7cm | - | 9.8cm | - | ||||
| AHK 2 | 2022 | CC BY 4.0 | ATU, CI | 43.3 GB* | Yes | G | 10* | 6 | 6 | 6 | Landscape | Rock glacier | TLS | Days | UG | TXT | - | 25832 | - | - | No | No | No | - | No | - | 18K | 13M | 72M | 3.6mm | 9.3mm | 7.6cm | - | ||||
| Bad Frankenhausen | 2022 | CC BY 4.0 | X | 14.5 GB* | No | G | 1 | 3 | 3 | 3 | Landscape | Sinkhole | PG-A,PG-G | Years | UG | Binary | RGB | 25832 | - | - | No | No | Yes | - | No | - | 2M | 3M | 9M | 7.5mm | 1.3cm | 1.4cm | - | ||||
| Belvedere Glacier | 2024 | CC BY 4.0 | X | 19.9 GB* | No | G | 1 | 13 | 13 | 13 | Landscape | Glacier | PG-A | Years | UG | LAZ | - | 7791 | 75.00% | - | No | No | Yes | - | No | - | 39M | 79M | 263M | 1.0dm | 1.5dm | 1.0m | - | ||||
| BLT | 2024 | Unclear | CI | 1.39 TB* | No | L | 2 | 5 | - | 10 | Agriculture | Vineyard | MLS,DC-V | Weeks | UL | ROS bag | - | m+GPS | - | - | E, O | No | Yes | (Yes)* | - | No | - | 47M | 248M | 337M | 6.8mm | 7.7mm | 1.1cm | - | |||
| Boreas | 2023 | CC BY 4.0 | X | 4.3 TB* | Yes | L | 1 | 43 | 43 | 43 | Urban | City route | MLS | Weeks | UL | Binary | - | m+GPS | - | NM | Yes | Yes | Yes* | - | No | - | 2B | 2B | 3B | 1.6cm | 1.8cm | 1.9cm | - | ||||
| Change3D (SLPCCD) | 2021 | Unclear | X | 7.6 GB* | Yes | B | 78 | 2 | 2 | 2 | Urban | Street segment | MLS? | Years | UG | LAZ | - | 28992 | 21.80% | - | Yes | No | Yes | - | No | 5* | 566K | 710K | 1M | 4.8mm | 9.8mm | 1.7cm | 1.43% | ||||
| ChangeDet | 2021 | Free use for research | X | 6.8 GB* | Yes | B | 2 | 2 | 2 | 2 | Urban | City district | PG-G | Months | UG | PCD | - | 32648 | - | - | No | No | Yes | - | No | 2* | 1M | 1M | 2M | 1.8dm | 1.9dm | 2.1dm | 4.44% | ||||
| ChangeSim | 2021 | Unclear | X | 167.6 GB* | Yes | B | 10 | 4 | 4 | 4 | Indoor | Warehouse | DC-V* | Undefined | UG, SL | PLY,rtabmap.db | RGBD | m | - | - | Yes | No | Yes | 24* | No | 5* | 299K | 5M | 545M | 2.7mm | 1.7cm | 2.5cm | 8.18% | ||||
| CoastScan Combined | 2024 | CC BY 4.0 | X | 169.4 MB* | No | G | 1 | 31 | 31 | 31 | Landscape | Beach | TLS | Days to Weeks | UG | TXT | - | 28992* | - | E | No | No | No | - | No | - | 49K | 154K | 172K | 5.0dm | 5.0dm | 1.0m | - | ||||
| Eschikon | 2018 | Unclear | X | 4.6 GB* | Yes | V | 30 | 16 | 16 | 16 | Greenhouse | Cultivation box | PG-G | Days | UG | Matlab file | Stereo images | m | - | - | No | No | Yes | 2 | No | - | 37K | 60K | 66K | 1.2mm | 1.9mm | 2.0mm | - | ||||
| Evo TLS | 2021 | CC BY 4.0 | X | 46.3 GB* | No | V | 37 | 2 | 2 | 2 | Vegetation | Forest plot | TLS | Years | UG | LAZ | - | 3067 | - | - | No | Yes | No | - | No | - | 34M | 59M | 83M | 4.0mm | 5.6mm | 6.4mm | - | ||||
| Fehr et al. | 2017 | Unclear | X | 127.9 GB* | No | L,O | 3 | 4 | 9 | 10 | Indoor | Single room | DC-P | Minutes to Days? | UG | ROS bag | RGBD | m | - | - | No | No | Yes | - | No | - | 14M | 17M | 27M | 2.2mm | 3.1mm | 3.7mm | - | ||||
| Fekete and Cserép | 2021 | CC0 1.0 | X | 487.7 MB* | Yes | V | 5 | 2 | 2 | 2 | Urban | City tile | ALS | Years | SG | GeoTIFF | - | m | - | - | No | No | No | - | No | - | 363K | 7M | 33M | 5.8dm | 5.8dm | 6.0dm | - | ||||
| Findelengletscher | 2018 | CC BY-NC-SA-3.0 | X | 332.7 MB* | No | G | 1 | 4 | 4 | 4 | Landscape | Glacier | ALS | Months | SG | GeoTIFF | - | 21781 | - | - | No | No | No | - | No | - | 26M | 26M | 26M | 1.0m | 1.0m | 1.1m | - | ||||
| Hessigheim3D | 2021 | Unclear | CI | 59 GB* | No | B | 3* | 4 | 4 | 4 | Urban | Village | ALS | Months to Years | UG | TXT,LAZ | - | 25832 | 33.33% | - | Yes | Yes | Yes | 11 | No | - | 608K | 41M | 129M | 2.1cm | 2.8cm | 1.6dm | - | ||||
| Holuhraun | 2024 | CC BY-NC-SA 4.0 | X | 13.8 GB* | No | G | 1 | 4 | 4 | 4 | Landscape | Volcano vent | TLS | Years | UG | LAS | - | 32628 | 30.00% | - | No | Yes | No | - | No | - | 92M | 99M | 117M | 1.9cm | 3.9cm | 3.9cm | - | ||||
| Kalkkinen | 2022 | CC BY 4.0 | X | 39.9 MB* | No | V | 10 | 2 | 2 | 2 | Vegetation | Forest plot | ALS | Years | UG | TXT | - | 3067 | - | - | - | No | No | No | - | No | - | 11K | 172K | 571K | 9.8cm | 1.4dm | 1.9dm | - | |||
| Kijkduin | 2021 | CC BY 4.0 | X | 65.3 GB* | Yes | G | 1 | 4082 | 4082 | 4082 | Landscape | Beach | TLS | Minutes | UG | LAZ | - | 7415* | - | - | No | Yes | No | - | No | - | 665K | 1M | 16M | 2.8cm | 1.6dm | 2.4dm | - | ||||
| LAST-Straw | 2024 | Unclear | X | 4.1 GB* | Yes | V | 6 | 14 | 14 | 14 | Greenhouse | Plant | SLS | Days to Weeks | UG | TXT | - | mm | - | - | No | No | Yes | (9) | (Yes) | - | 734K | 1M | 1M | 403µm | 4.5mm | 3.7cm | - | ||||
| LiPheStream | 2024 | CC BY 4.0 | X | 1.7 TB* | Yes | V | 660 | 11 | 92 | 103 | Vegetation | Tree | TLS | Hours to Months | UG | LAZ | - | 3067 | 21.54% | E | No | Yes | No | 4* | Yes* | - | 898 | 1M | 171M | 2.4mm | 9.0mm | 1.0dm | - | ||||
| M3C2-EP | 2021 | CC BY 4.0 | ATU, CI | 14.6 GB* | Yes | G | 21* | 3 | 3 | 3 | Landscape | Rock glacier | TLS | Weeks to Years | UG | LAZ | - | 25832 | 14.29% | NM | No | Yes | No | - | No | - | 476 | 302K | 10M | 3.8mm | 2.0cm | 1.3dm | - | ||||
| Mariakerke Bad | 2024 | CC BY 4.0 | X | 54 GB* | Yes | G | 1 | 8417 | 8417 | 8417 | Landscape | Beach | TLS | Minutes | UG | LAZ | - | 3812* | - | - | No | Yes | No | - | No | - | 305K | 1M | 2M | 7.9cm | 1.2dm | 1.6dm | - | ||||
| Masala Overnight | 2024 | CC BY 4.0 | X | 10 GB* | No | V | 30 | 41 | 91 | 91 | Vegetation | Plant, reference | TLS | Minutes | UG | LAZ | - | m | 11.63% | - | No | Yes | No | 16* | Yes* | - | 16 | 15K | 5M | 1.0mm | 7.1mm | 5.5cm | - | ||||
| MHT Building | 2014 | Unclear (Citation) | X | 35.7 GB* | No | L,B | 3 | 2966 | 2968 | 2969 | Indoor | Office | DC-V | Minutes | SL | ROS bag | - | m | - | E | No | No | Yes | - | No | - | 60K | 300K | 3M | 131µm | 7.2mm | 1.1cm | - | ||||
| MulRan | 2020 | CC BY-NC-SA 4.0 | CI | 148.9 GB* | Yes | L | 4 | 3 | 3 | 3 | Urban | City route | MLS | Hours to Months? | UG | LAS | Laser scans | 32652 | 12.50% | NM | No | Yes | No | - | No | - | 20M | 31M | 78M | 4.3cm | 5.2cm | 6.6cm | - | ||||
| NCLT | 2010 | ODbl v1.0 | X | 3.13 TB* | Yes | L | 1 | 27 | 27 | 27 | Built | Campus route | MLS | Hours to Months | UL | Binary | - | m+GPS | 34.62% | - | No | Yes | Yes* | - | No | - | 340M | 2B | 3B | 1.8cm | 2.1cm | 2.5cm | - | ||||
| Nesslrinna | 2019 | CC BY 4.0 | X | 882.69 MB* | No | G | 1 | 2 | 2 | 2 | Landscape | Landslide | TLS | Years | UG | TXT | - | 32632 | 100.00% | O | No | Yes | No | - | No | - | 5M | - | 11M | 2.7cm | - | 3.5cm | - | ||||
| Noordwijk | 2023 | CC BY-NC 4.0 | X | 597.9 GB | Yes | G | 1 | 21812 | 21812 | 21812 | Landscape | Beach | TLS | Minutes | UG | LAZ | - | 7415* | - | S | No | Yes | No | - | No | - | 10 | 4M | 36M | 2.7cm | 8.9cm | 11.1m | - | ||||
| NSS | 2025 | Free use for research | X | 3.79 GB | Yes | R | 4 | 3 | 5 | 6 | Indoor | Construction site | TLS | Weeks to Months | UL | PLY | - | m | 33.33% | NM, O | Yes | No | No | - | No | - | 352K | 4M | 13M | 1.7cm | 2.1cm | 3.2cm | - | ||||
| NTU VIRAL | 2022 | CC BY-NC 4.0 | X | 88.26 GB* | Yes | L | 6 | 3 | 3 | 3 | Built | University | ALS | Minutes | UL | ROS bag | - | m | - | - | - | No | Yes | Yes* | - | No | - | 33M | 89M | 197M | 7.9mm | 1.8cm | 5.3cm | - | |||
| Object Change Detection | 2020 | Unclear | X | 142.2 MB* | No | O | 5 | 6 | 6 | 7 | Indoor | Room | DC-V | Minutes? | UG | PCD | - | m | - | - | No | No | Yes | - | No | 2 | 52K | 206K | 761K | 5.0mm | 7.2mm | 7.7mm | 2.66% | ||||
| OpenLORIS-Scene | 2020 | CC BY-ND 4.0 | X | 207.1 GB* | Yes | L | 5 | 2 | 5 | 7 | Indoor | Rooms, market | DC-V | Minutes to Hours | SL | PNG | ROS bags | m | 70.59% | - | No | No | Yes | - | No | - | 96M | 536M | 2B | 761µm | 1.3mm | 2.9mm | - | ||||
| Pheno4D | 2021 | Unclear | X | 4.1 GB | Yes | V,R | 14 | 11 | 16 | 20 | Greenhouse | Plant in soil | SLS | Hours | UG | TXT | - | mm | - | - | No | No | No | (3) | (Yes) | - | 337K | 2M | 5M | 45µm | 67µm | 93µm | - | ||||
| QALIDAR | 2024 | Open government data | X | 254.3 MB* | Yes | B | 1 | 2 | 2 | 2 | Urban | City tile | ALS | Years | UG | LAS,LAZ | - | 2056 | - | - | No | Yes | (Yes) | 19 | No | - | 2M | - | 27M | 7.9cm | - | 2.9dm | - | ||||
| Riparian Vegetation | 2022 | CC BY 4.0 | X | 114.4 MB* | No | V | 1 | 3 | 3 | 3 | Vegetation | Riparian vegetation | PG-A | Months | UG | LAS | - | 32632 | - | - | No | No | Yes | - | No | - | 1M | 1M | 1M | 4.4cm | 4.4cm | 4.8cm | - | ||||
| Rotmoos | 2019 | CC BY 4.0 | X | 15.14 GB* | No | G | 1 | 6 | 6 | 6 | Landscape | River valley | TLS, ALS, PG-A, PG-G | Years | UG | TXT,LAS,LAZ | RGB | 32632 | 60.00% | NM, O | No | (Yes) | (Yes) | - | No | - | 8M | 66M | 90M | 3.7cm | 6.3cm | 2.6dm | - | ||||
| Schmid et al. | 2022 | Unclear | X | 392.7 MB | Yes | L | 1 | 2 | 2 | 2 | Indoor | Flat | DC-V* | Undefined | SL | PNG,TIFF | - | m | - | - | No | No | Yes | 31* | Yes | 4* | 108M | - | 121M | 876µm | - | 890µm | 12.83% | ||||
| Schneeferner | 2023 | CC BY 4.0 | X | 18.94 GB * | No | G | 1 | 129 | 129 | 129 | Landscape | Skiing slope | TLS | Hours | UG | LAZ | - | 32632* | 2.30% | - | No | Yes | No | - | No | - | 4M | 12M | 54M | 2.2cm | 5.8mm | 1.0dm | - | ||||
| SMARS | 2023 | Unclear (Citation) | X | 2.5 GB | No | B | 2 | 2 | 2 | 2 | Urban | City tile | PG-A* | Undefined | SG | GeoTIFF | - | m | - | - | Yes | No | Yes | 5 | No | 3 | 31M | 31M | 31M | 3.2dm | 3.2dm | 3.2dm | 18.24% | ||||
| SZTAKI-Change3D | 2021 | Unclear | X | 430.1 MB | Yes | B | 1927 | 2 | 2 | 2 | Urban | Street part | MLS | Seconds? | SL | PNG | - | m | 8.04% | - | No | No | No | - | No | 2* | 58K | 79K | 99K | 3.0cm | 5.7cm | 7.2cm | 9.09% | ||||
| SZTAKI-CityCDLoc | 2022 | Unclear | X | 558.2 MB | Yes | R,B | 3 | 2 | 2 | 2 | Urban | Street segment | MLS | Months? | UG | PCD | Local PCs | 23700 | 66.66% | - | No | No | No | (3) | No | 4 | 181K | 2M | 7M | 9.5mm | 4.4cm | 8.7cm | 61.39% | ||||
| TorWIC-Mapping | 2022 | Unclear (Citation) | X | 69.7 GB* | Yes | L,B | 1 | 18 | 18 | 18 | Indoor | Boxes and fences | DC-V | Minutes? | SL | PNG | ROS bags | m | - | - | No | No | Yes | 16 | No | - | 135M | 314M | 488M | 976µm | 1.3mm | 1.7mm | - | ||||
| TorWIC-SLAM | 2023 | Unclear (Citation) | X | 440.7 GB* | Yes | L | 3 | 5 | 5 | 10 | Indoor | Warehouse route | MLS, DC-V | Minutes to Months | UL | PCD | ROS bags | m | 23.53% | - | No | No | Yes* | 16* | No | - | 240M | 400M | 666M | 2.1mm | 4.1mm | 4.6mm | - | ||||
| Trail Valley Creek | 2018 | CC BY 3.0 | X | 81.5 GB* | Yes | G | 2 | 3 | 3 | 3 | Natural | Tundra plot | TLS | Months | UG | TXT | - | 32608 | - | - | No | No | Yes | - | No | - | 163M | 238M | 275M | 2.4mm | 2.7mm | 3.0mm | - | ||||
| Underwood et al. | 2013 | Unclear | X | 365.7 MB | Yes | B | 3 | 2 | 2 | 4 | Built | Carpark, lab | TLS | Minutes | UL | TXT | - | m | - | - | No | No | No | - | No | 3 | 194K | 1M | 1M | 6.0mm | 7.9mm | 2.2dm | 1.01% | ||||
| Urb3DCD-v1 | 2021 | CC BY 4.0 | CA | 1.1 GB | Yes | B | 110 | 2 | 2 | 2 | Urban | City district | ALS* | Undefined | UG | PLY | - | 9826 | - | - | Yes | No | No | - | No | 3 | 143K | 162K | 7M | 1.5dm | 1.2m | 1.4m | 9.99% | ||||
| Urb3DCD-v2 | 2023 | CC BY 4.0 | CA | 474 MB | Yes | B | 30 | 2 | 2 | 2 | Urban | City district | ALS* | Undefined | UG | PLY | - | 9827 | - | - | Yes | No | No | 4 | No | 7 | 149K | 205K | 6M | 1.5dm | 1.2m | 1.3m | 16.62% | ||||
| Urb3DCD-cls | 2023 | CC BY 4.0 | CA | 323.9 MB | Yes | B | 7830* | 2 | 2 | 2 | Urban | Object in context | ALS* | Undefined | UG | PLY | - | 9828 | - | S | Yes | No | No | 4 | No | 7 | 11 | 4K | 8K | 1.6dm | 3.3dm | 9.7dm | 17.76% | ||||
| USyd Campus | 2019 | CC BY 4.0 | CA | 719.99 GB* | Yes | L | 1 | 49 | 49 | 49 | Urban | University campus | MLS | Weeks | UL | ROS bag | - | m+GPS | - | 2.08% | E | No | Yes | Yes* | - | No | - | 79M | 199M | 250M | 3.4cm | 4.0cm | 4.6cm | - | |||
| Waikīkī Beach | 2024 | CC0 | X | 31.1 GB* | No | G | 1 | 128 | 128 | 128 | Landscape | Beach | PG-A | Days to Weeks | SG | GeoTIFF | - | 32604 | - | E | No | No | Yes* | - | No | - | 83K | 85K | 88K | 5.0dm | 5.0dm | 5.0dm | - | ||||
| Zhang et al. | 2020 | CC BY 4.0 | ATU, CI | 3.1 GB* | No | B | 1 | 2 | 2 | 2 | Urban | City tile | ALS, PG-A | Years | UG | LAS | - | 28992 | - | - | No | No | No | - | No | - | 40M | - | 51M | 1.7dm | - | 2.7dm | - | ||||