mlsanityData to 14 Oct 2026

A Benchmark for Lidar Sensors in Fog: Is Detection Breaking Down?

arXiv 1912.03251 ↗First posted 6 Dec 2019cs.CVcited by 32

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Abstract (arXiv)

Autonomous driving at level five does not only means self-driving in the sunshine. Adverse weather is especially critical because fog, rain, and snow degrade the perception of the environment. In this work, current state of the art light detection and ranging (lidar) sensors are tested in controlled conditions in a fog chamber. We present current problems and disturbance patterns for four different state of the art lidar systems. Moreover, we investigate how tuning internal parameters can improve their performance in bad weather situations. This is of great importance because most state of the art detection algorithms are based on undisturbed lidar data.

Key facts. Cited by 32 papers in the map (data through 14 Oct 2026). First posted on arXiv 6 Dec 2019.

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Citing papers per year: 2021: 4; 2022: 9; 2023: 6; 2024: 7; 2025: 3; 2026: 3.

32 papers.

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  1. 2023Robo3D: Towards Robust and Reliable 3D Perception against Corruptionscited by 129
  2. 2022LiDAR Snowfall Simulation for Robust 3D Object Detectioncited by 73
  3. 2022CramNet: Camera-Radar Fusion with Ray-Constrained Cross-Attention for Robust 3D Object Detectioncited by 30
  4. 2023Survey on LiDAR Perception in Adverse Weather Conditionscited by 24
  5. 20224DenoiseNet: Adverse Weather Denoising from Adjacent Point Cloudscited by 14
  6. 2024Rethinking Data Augmentation for Robust LiDAR Semantic Segmentation in Adverse Weathercited by 14
  7. 2022NVRadarNet: Real-Time Radar Obstacle and Free Space Detection for Autonomous Drivingcited by 13
  8. 2025SAMFusion: Sensor-Adaptive Multimodal Fusion for 3D Object Detection in Adverse Weathercited by 12
  9. 2023Radars for Autonomous Driving: A Review of Deep Learning Methods and Challengescited by 10
  10. 2024Cross-spectral Gated-RGB Stereo Depth Estimationcited by 8
  11. 2022Robust 3D Object Detection in Cold Weather Conditionscited by 7
  12. 2023Gated Stereo: Joint Depth Estimation from Gated and Wide-Baseline Active Stereo Cuescited by 7
20 more
  1. 2021Gated2Gated: Self-Supervised Depth Estimation from Gated Imagescited by 6
  2. 2021A Benchmark for Spray from Nearby Cutting Vehiclescited by 5
  3. 2024Sense Less, Generate More: Pre-training LiDAR Perception with Masked Autoencoders for Ultra-Efficient 3D Sensingcited by 5
  4. 2022Detection of Condensed Vehicle Gas Exhaust in LiDAR Point Cloudscited by 4
  5. 2022Simulating Road Spray Effects in Automotive Lidar Sensor Modelscited by 4
  6. 2024Gated Fields: Learning Scene Reconstruction from Gated Videoscited by 3
  7. 2024LED: Light Enhanced Depth Estimation at Nightcited by 2
  8. 20253D Roadway Scene Object Detection with LIDARs in Snowfall Conditionscited by 2
  9. 2022Deep learning for radar data exploitation of autonomous vehiclecited by 1
  10. 2022Perception Simplex: Verifiable Collision Avoidance in Autonomous Vehicles Amidst Obstacle Detection Faultscited by 1
  11. 2023Multi-Echo Denoising in Adverse Weathercited by 1
  12. 2025Enhanced 3D Object Detection via Diverse Feature Representations of 4D Radar Tensorcited by 1
  13. 2021A Hybrid mmWave and Camera System for Long-Range Depth Imagingcited by 0
  14. 2021GenRadar: Self-supervised Probabilistic Camera Synthesis based on Radar Frequenciescited by 0
  15. 2023Detecting the Anomalies in LiDAR Pointcloudcited by 0
  16. 2024SID: Stereo Image Dataset for Autonomous Driving in Adverse Conditionscited by 0
  17. 2024Detection and Tracking of MAVs Using a Rosette Scanning Pattern LiDARcited by 0
  18. 2026Adaptive Augmentation-Aware Latent Learning for Robust LiDAR Semantic Segmentationcited by 0
  19. 2026ModalPatch: A Plug-and-Play Module for Robust Multi-Modal 3D Object Detection under Modality Dropcited by 0
  20. 2026Concept of a Sensor Test Environment for Dusty Agricultural Conditionscited by 0