Data to 7 Oct 2026

4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving

arXiv 2009.06364 ↗First posted 14 Sep 2020cs.CVcited by 51

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Abstract (arXiv)

We present a novel dataset covering seasonal and challenging perceptual conditions for autonomous driving. Among others, it enables research on visual odometry, global place recognition, and map-based re-localization tracking. The data was collected in different scenarios and under a wide variety of weather conditions and illuminations, including day and night. This resulted in more than 350 km of recordings in nine different environments ranging from multi-level parking garage over urban (including tunnels) to countryside and highway. We provide globally consistent reference poses with up-to centimeter accuracy obtained from the fusion of direct stereo visual-inertial odometry with RTK-GNSS. The full dataset is available at https://go.vision.in.tum.de/4seasons.

Key facts. Cited by 51 papers in the map (data through 7 Oct 2026). First posted on arXiv 14 Sep 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 5; 2022: 9; 2023: 6; 2024: 14; 2025: 8; 2026: 9.

51 papers.

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2022LaMAR: Benchmarking Localization and Mapping for Augmented Realitycited by 98
2024Deep Patch Visual SLAMcited by 68
2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
2022DM-VIO: Delayed Marginalization Visual-Inertial Odometrycited by 22
2023Open-sourced Data Ecosystem in Autonomous Driving: the Present and Futurecited by 22
2021ACDC: The Adverse Conditions Dataset with Correspondences for Robust Semantic Driving Scene Perceptioncited by 21
2022RobustLoc: Robust Camera Pose Regression in Challenging Driving Environmentscited by 18
2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
2025GigaSLAM: Large-Scale Monocular SLAM with Hierarchical Gaussian Splatscited by 14
2023Active Visual Exploration Based on Attention-Map Entropycited by 13
2021Asynchronous Multi-View SLAMcited by 12
2024Fed3DGS: Scalable 3D Gaussian Splatting with Federated Learningcited by 12

38 more

2025Benchmarking Egocentric Visual-Inertial SLAM at City Scalecited by 12
2022Ad-datasets: a meta-collection of data sets for autonomous drivingcited by 11
2021MegLoc: A Robust and Accurate Visual Localization Pipelinecited by 10
2024Unifying Local and Global Multimodal Features for Place Recognition in Aliased and Low-Texture Environmentscited by 7
2024AdaGlimpse: Active Visual Exploration with Arbitrary Glimpse Position and Scalecited by 7
2022Privacy-Preserving Visual Localization with Event Camerascited by 6
2026VGGT-Motion: Motion-Aware Calibration-Free Monocular SLAM for Long-Range Consistencycited by 6
20224Seasons: Benchmarking Visual SLAM and Long-Term Localization for Autonomous Driving in Challenging Conditionscited by 5
2023AdaSfM: From Coarse Global to Fine Incremental Adaptive Structure from Motioncited by 5
2021Tight Integration of Feature-based Relocalization in Monocular Direct Visual Odometrycited by 4
2022Vision-based Large-scale 3D Semantic Mapping for Autonomous Driving Applicationscited by 4
2023Unsupervised Quality Prediction for Improved Single-Frame and Weighted Sequential Visual Place Recognitioncited by 4
2024Light-SLAM: A Robust Deep-Learning Visual SLAM System Based on LightGlue under Challenging Lighting Conditionscited by 4
2024ROVER: A Multi-Season Dataset for Visual SLAMcited by 4
2022ImPosing: Implicit Pose Encoding for Efficient Visual Localizationcited by 3
2024RoMeO: Robust Metric Visual Odometrycited by 3
2024Spatially Visual Perception for End-to-End Robotic Learningcited by 2
2024ConDo: Continual Domain Expansion for Absolute Pose Regressioncited by 2
2021Self-Supervised Steering Angle Prediction for Vehicle Control Using Visual Odometrycited by 1
2024DIDLM: A SLAM Dataset for Difficult Scenarios Featuring Infrared, Depth Cameras, LIDAR, 4D Radar, and Others under Adverse Weather, Low Light Conditions, and Rough Roadscited by 1
2024Is That Rain? Understanding Effects on Visual Odometry Performance for Autonomous UAVs and Efficient DNN-based Rain Classification at the Edgecited by 1
2025Panoptic-CUDAL: Rural Australia Point Cloud Dataset in Rainy Conditionscited by 1
2025VALISENS: A Validated Innovative Multi-Sensor System for Cooperative Automated Drivingcited by 1
2026SCE-SLAM: Scale-Consistent Monocular SLAM via Scene Coordinate Embeddingscited by 1
2026The S3LI Vulcano Dataset: A Dataset for Multi-Modal SLAM in Unstructured Planetary Environmentscited by 1
2026SLAM Adversarial Lab: An Extensible Framework for Visual SLAM Robustness Evaluation under Adverse Conditionscited by 1
2026A global dataset of continuous urban dashcam drivingcited by 1
2022A Real-Time Fusion Framework for Long-term Visual Localizationcited by 0
2023CyberLoc: Towards Accurate Long-term Visual Localizationcited by 0
2024DynamicGlue: Epipolar and Time-Informed Data Association in Dynamic Environments using Graph Neural Networkscited by 0
2024Robust Vehicle Localization and Tracking in Rain using Street Mapscited by 0
2025Edge-Enabled VIO with Long-Tracked Features for High-Accuracy Low-Altitude IoT Navigationcited by 0
2025Why Not Replace? Sustaining Long-Term Visual Localization via Handcrafted-Learned Feature Collaboration on CPUcited by 0
2025LoopDB: A Loop Closure Dataset for Large Scale Simultaneous Localization and Mappingcited by 0
2025WildfireX-SLAM: A Large-scale Low-altitude RGB-D Dataset for Wildfire SLAM and Beyondcited by 0
2026Failure or Drift? Evaluating Monocular SLAM under Synthetic and Real-World Corruptionscited by 0
2026TRAIL: Trajectory-Aware Visual Place Recognition against Unordered Databasescited by 0
2026HuMemSLAM: Efficient Human-Inspired Semantic Place Recognition for Robust Visual SLAMcited by 0

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