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arXiv 提交日期: 2026-05-21
📄 Abstract - FRED: A Multi-Modal Autonomous Driving Dataset for Flooded Road Environments

The Flooded Road Environments Dataset (FRED) is, to our knowledge, the first multi-modal autonomous driving dataset specifically targeting the collection of data from scenarios involving water hazards on the road. The dataset contains images from a 2.3 MP FLIR Blackfly USB3 camera, 64-beam 360$^\circ$ point clouds from an Ouster OS1-64 LiDAR, and data from an iXblue ATLANS-C IMU corrected by a Geoflex RTK GNSS, from five separate locations captured both during and after flooding events. The data has been released in two formats: a KITTI-style format for easy integration with existing data tools, and the RTMaps format for direct replay of the vehicle's data capture. We provide semantic labels to enable the training and evaluation of both single-sensor and sensor-fusion methods for water hazard detection. Position and velocity, as well as data captured under dry conditions, are provided to enable the development of location-based detection methods that may incorporate maps, and to evaluate other tasks such as localisation and SLAM.

顶级标签: autonomous driving machine learning
详细标签: dataset multi-modal water hazard detection semantic labels sensor-fusion 或 搜索:

FRED:面向积水道路环境的多模态自动驾驶数据集 / FRED: A Multi-Modal Autonomous Driving Dataset for Flooded Road Environments


1️⃣ 一句话总结

该论文发布了首个专为积水道路场景设计的多模态自动驾驶数据集FRED,包含摄像头、激光雷达和惯性导航数据,并提供语义标签,旨在帮助开发并评估自动驾驶系统在涉水环境中的障碍检测、定位与地图构建能力。

源自 arXiv: 2605.22018