OPEN-KTH: An open Lidar dataset of KTH campus Valhallavägen

Sensors used:

  • Velodyne VLP-16 Lidar

  • Xsens MTi-700 IMU

Data formats:

  • Sensor readings in the form of rosbags. Learn more here: rosbags.

  • A full (processed) map of KTH in th e PCD and LAS formats.

Learn more about the formats here: PCD format, LAS format.

Open-KTH is a subproject of the AD-EYE testbed for Automated Driving and Intelligent Transportation Systems, and is the first open and freely available dataset of the KTH main campus at Valhallavägen, Stockholm.

The AD-EYE testbed is based on the description presented in the work :

Naveen Mohan, Martin Törngren, "AD-EYE: A Co-Simulation Platform for Early Verification of Functional Safety Concepts", SAE Technical Paper 19AE-0203/2019-01-0126,

Preprint available at:


  • Students the group "AD-EYE on Road" in the capstone course of the Mechatronics Masters program, collected the data using the AD-EYE platform.

  • Maxime Sainte Catherine from the AD-EYE team mapped the data, and generated the visualizations seen on this page.

Partly funded by:

And using resources from the following parts of KTH: