diff --git a/supervision/dataset/core.py b/supervision/dataset/core.py
index 00248fcd..358b4e59 100644
--- a/supervision/dataset/core.py
+++ b/supervision/dataset/core.py
@@ -2,13 +2,13 @@ from __future__ import annotations
 
 from dataclasses import dataclass
 from pathlib import Path
-from typing import Dict, List, Optional
+from typing import Dict, List, Optional, Tuple
 
 import cv2
 import numpy as np
 
 from supervision.file import list_files_with_extensions
-from supervision.dataset.formats.pascal_voc import detections_to_pascal_voc
+from supervision.dataset.formats.pascal_voc import detections_to_pascal_voc, load_pascal_voc_annotations
 from supervision.detection.core import Detections
 
 
@@ -82,10 +82,55 @@ class Dataset:
 
     @classmethod
     def from_pascal_voc(cls, images_directory_path: str, annotations_directory_path: str) -> Dataset:
+        """
+        Creates a Dataset instance from PASCAL VOC formatted data.
+
+        Args:
+            images_directory_path (str): The path to the directory containing the images.
+            annotations_directory_path (str): The path to the directory containing the PASCAL VOC XML annotations.
+
+        Returns:
+            Dataset: A Dataset instance containing the loaded images and annotations.
+        """
         image_paths = list_files_with_extensions(
             directory=images_directory_path,
             extensions=['jpg', 'jpeg', 'png'])
         annotation_paths = list_files_with_extensions(
             directory=annotations_directory_path,
             extensions=['xml'])
-        return image_paths, annotation_paths
+
+        raw_annotations: List[Tuple[str, Detections, List[str]]] = [
+            load_pascal_voc_annotations(annotation_path=str(annotation_path))
+            for annotation_path
+            in annotation_paths
+        ]
+
+        classes = []
+        for annotation in raw_annotations:
+            classes.extend(annotation[2])
+        classes = list(set(classes))
+
+        for annotation in raw_annotations:
+            class_id = [
+                classes.index(class_name)
+                for class_name
+                in annotation[2]
+            ]
+            annotation[1].class_id = np.array(class_id)
+
+        images = {
+            image_path.name: cv2.imread(str(image_path))
+            for image_path
+            in image_paths
+        }
+
+        annotations = {
+            image_name: detections
+            for image_name, detections, _
+            in raw_annotations
+        }
+        return Dataset(
+            classes=classes,
+            images=images,
+            annotations=annotations
+        )
diff --git a/supervision/dataset/formats/pascal_voc.py b/supervision/dataset/formats/pascal_voc.py
index f453078e..ac3d3562 100644
--- a/supervision/dataset/formats/pascal_voc.py
+++ b/supervision/dataset/formats/pascal_voc.py
@@ -134,17 +134,17 @@ def detections_to_pascal_voc(
     return xml_string
 
 
-def load_pascal_voc_annotations(xml_path: str) -> Tuple[str, Detections, List[str]]:
+def load_pascal_voc_annotations(annotation_path: str) -> Tuple[str, Detections, List[str]]:
     """
     Loads PASCAL VOC XML annotations and returns the image name, a Detections instance, and a list of class names.
 
     Args:
-        xml_path (str): The path to the PASCAL VOC XML annotations file.
+        annotation_path (str): The path to the PASCAL VOC XML annotations file.
 
     Returns:
         Tuple[str, Detections, List[str]]: A tuple containing the image name, a Detections instance, and a list of class names of objects in the detections.
     """
-    tree = parse(xml_path)
+    tree = parse(annotation_path)
     root = tree.getroot()
 
     image_name = root.find("filename").text