KAIST Urban provides light detection and ranging (LiDAR) data and stereo images from various position sensors for highly complex urban environments. The provided data captures the characteristics of urban environments (e.g., metropolitan areas, complex buildings, and residential areas). Data from typical 2D and 3D LiDAR sensors are presented. Raw sensor data for vehicle navigation is provided in file formats. For convenience, development tools are provided in the Robot Operating System (ROS) environment.