velocity: 130km/h
velocity: 120km/h
velocity: 110km/h
velocity: 100km/h
LiDARs are one of the main sensors used for autonomous driving applications, providing accurate depth estimation regardless of lighting conditions. However, they are severely affected by adverse weather conditions such as rain, snow, and fog.
This dataset provides semantic labels for a subset of the Road Spray Dataset, which contains scenes of vehicles traveling at different speeds on wet surfaces, creating a trailing spray effect. We provide semantic labels for over 200 dynamic scenes, labeling each point in the LiDAR point clouds as background (road, vegetation, buildings, ...), foreground (moving vehicles), and noise (spray, LiDAR artifacts).
SemanticSprayDataset.zip
SemanticSprayDataset.z01
SemanticSprayDataset.z02
SemanticSprayDataset.z03
SemanticSprayDataset.z04
SemanticSprayDataset.z05
$ zip -F SemanticSprayDataset.zip --out SemanticSprayDataset_single_file.zip
$ unzip SemanticSprayDataset_single_file.zip
|--- Crafter_dynamic
| |--- 0000_2021-09-08-14-36-56_0
| | |--- image_2
| | | |--- 000000.jpg
| | | |--- ....
| | |--- delphi_radar
| | | |--- 000000.bin
| | | |--- ....
| | |--- ibeo_front
| | | |--- 000000.bin
| | | |--- ....
| | |--- ibeo_rear
| | | |--- 000000.bin
| | | |--- ....
| | |--- labels
| | | |--- 000000.label
| | | |--- ....
| | |--- velodyne
| | | |--- 000000.bin
| | | |--- ....
| | |--- poses.txt
| | |--- metadata.txt
|--- Golf_dynamic
...
The sensor setup used for the recordings is the following:
Background: 0
Leading Vehicle: 1
Spray and other noise artifacts : 2
In the following GitHub repository, we provide python code for loading and visualizing the dataset.
SemanticSpray Dataset
@ARTICLE{10143263,
author={Piroli, Aldi and Dallabetta, Vinzenz and Kopp, Johannes and Walessa, Marc and Meissner, Daniel and Dietmayer, Klaus},
journal={IEEE Robotics and Automation Letters},
title={Energy-Based Detection of Adverse Weather Effects in LiDAR Data},
year={2023},
volume={8},
number={7},
pages={4322-4329},
doi={10.1109/LRA.2023.3282382}}
Road Spray Dataset
@misc{https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/3537,
url = { https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/3537 },
author = { Linnhoff, Clemens and Elster, Lukas and Rosenberger, Philipp and Winner, Hermann },
doi = { 10.48328/tudatalib-930 },
keywords = { Automated Driving, Lidar, Radar, Spray, Weather, Perception, Simulation, 407-04 Verkehrs- und Transportsysteme, Intelligenter und automatisierter Verkehr, 380 },
publisher = { Technical University of Darmstadt },
year = { 2022-04 },
copyright = { Creative Commons Attribution 4.0 },
title = { Road Spray in Lidar and Radar Data for Individual Moving Objects }}