mlsanityData to 7 Oct 2026

Canadian Adverse Driving Conditions Dataset

arXiv 2001.10117 ↗First posted 27 Jan 2020cs.CVcited by 86

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Abstract (arXiv)

The Canadian Adverse Driving Conditions (CADC) dataset was collected with the Autonomoose autonomous vehicle platform, based on a modified Lincoln MKZ. The dataset, collected during winter within the Region of Waterloo, Canada, is the first autonomous vehicle dataset that focuses on adverse driving conditions specifically. It contains 7,000 frames collected through a variety of winter weather conditions of annotated data from 8 cameras (Ximea MQ013CG-E2), Lidar (VLP-32C) and a GNSS+INS system (Novatel OEM638). The sensors are time synchronized and calibrated with the intrinsic and extrinsic calibrations included in the dataset. Lidar frame annotations that represent ground truth for 3D object detection and tracking have been provided by Scale AI.

Key facts. Cited by 86 papers in the map (data through 7 Oct 2026). First posted on arXiv 27 Jan 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 9; 2022: 14; 2023: 16; 2024: 21; 2025: 13; 2026: 13.

86 papers.

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  1. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  2. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  3. 2022SHIFT: A Synthetic Driving Dataset for Continuous Multi-Task Domain Adaptationcited by 146
  4. 2023Benchmarking Robustness of 3D Object Detection to Common Corruptions in Autonomous Drivingcited by 112
  5. 2021Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weathercited by 95
  6. 2022LiDAR Snowfall Simulation for Robust 3D Object Detectioncited by 72
  7. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  8. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  9. 2022Ithaca365: Dataset and Driving Perception under Repeated and Challenging Weather Conditionscited by 47
  10. 20233D Semantic Segmentation in the Wild: Learning Generalized Models for Adverse-Condition Point Cloudscited by 46
  11. 2023Federated Learning for Connected and Automated Vehicles: A Survey of Existing Approaches and Challengescited by 39
  12. 2021An Application-Driven Conceptualization of Corner Cases for Perception in Highly Automated Drivingcited by 33
38 more
  1. 2024CAFuser: Condition-Aware Multimodal Fusion for Robust Semantic Perception of Driving Scenescited by 33
  2. 2024MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertaintycited by 32
  3. 2022HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detectioncited by 30
  4. 2021DSOR: A Scalable Statistical Filter for Removing Falling Snow from LiDAR Point Clouds in Severe Winter Weathercited by 26
  5. 2023Survey on LiDAR Perception in Adverse Weather Conditionscited by 23
  6. 2021ACDC: The Adverse Conditions Dataset with Correspondences for Robust Semantic Driving Scene Perceptioncited by 21
  7. 2021Uncertainty-aware Mean Teacher for Source-free Unsupervised Domain Adaptive 3D Object Detectioncited by 18
  8. 2024Multiagent Multitraversal Multimodal Self-Driving: Open MARS Datasetcited by 18
  9. 2023A Survey of Federated Learning for Connected and Automated Vehiclescited by 17
  10. 2024MultiCorrupt: A Multi-Modal Robustness Dataset and Benchmark of LiDAR-Camera Fusion for 3D Object Detectioncited by 17
  11. 2023WeatherDepth: Curriculum Contrastive Learning for Self-Supervised Depth Estimation under Adverse Weather Conditionscited by 15
  12. 20224DenoiseNet: Adverse Weather Denoising from Adjacent Point Cloudscited by 14
  13. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  14. 2021Attentive Prototypes for Source-free Unsupervised Domain Adaptive 3D Object Detectioncited by 13
  15. 2024Extrapolated Urban View Synthesis Benchmarkcited by 13
  16. 2022IDD-3D: Indian Driving Dataset for 3D Unstructured Road Scenescited by 11
  17. 2024Sunshine to Rainstorm: Cross-Weather Knowledge Distillation for Robust 3D Object Detectioncited by 11
  18. 2022LiSnowNet: Real-time Snow Removal for LiDAR Point Cloudcited by 10
  19. 2022Common Corruption Robustness of Point Cloud Detectors: Benchmark and Enhancementcited by 9
  20. 2022Image-to-Image Translation for Autonomous Driving from Coarsely-Aligned Image Pairscited by 8
  21. 2021RaidaR: A Rich Annotated Image Dataset of Rainy Street Scenescited by 7
  22. 2024TripleMixer: A 3D Point Cloud Denoising Model for Adverse Weathercited by 7
  23. 2024Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutionscited by 7
  24. 2021Improving Generalization of Transfer Learning Across Domains Using Spatio-Temporal Features in Autonomous Drivingcited by 5
  25. 2022LiDAR-MIMO: Efficient Uncertainty Estimation for LiDAR-based 3D Object Detectioncited by 5
  26. 2022SLiDE: Self-supervised LiDAR De-snowing through Reconstruction Difficultycited by 5
  27. 20224Seasons: Benchmarking Visual SLAM and Long-Term Localization for Autonomous Driving in Challenging Conditionscited by 5
  28. 2024Real-Time Environment Condition Classification for Autonomous Vehiclescited by 5
  29. 2024SUSTechGAN: Image Generation for Object Detection in Adverse Conditions of Autonomous Drivingcited by 5
  30. 2025Mixed Signals: A Diverse Point Cloud Dataset for Heterogeneous LiDAR V2X Collaborationcited by 5
  31. 2023Camera-Radar Perception for Autonomous Vehicles and ADAS: Concepts, Datasets and Metricscited by 4
  32. 2023TWICE Dataset: Digital Twin of Test Scenarios in a Controlled Environmentcited by 4
  33. 2024Improving Robustness of LiDAR-Camera Fusion Model against Weather Corruption from Fusion Strategy Perspectivecited by 4
  34. 2024AxiomVision: Accuracy-Guaranteed Adaptive Visual Model Selection for Perspective-Aware Video Analyticscited by 4
  35. 2025DriveSOTIF: Advancing Perception SOTIF Through Multimodal Large Language Modelscited by 4
  36. 2024CAMAv2: A Vision-Centric Approach for Static Map Element Annotationcited by 3
  37. 2021Improving Robustness of Learning-based Autonomous Steering Using Adversarial Imagescited by 2
  38. 2023A Survey on Datasets for Decision-making of Autonomous Vehiclecited by 2

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