# ACDC: The Adverse Conditions Dataset with Correspondences for Robust Semantic Driving Scene Perception

arXiv: https://arxiv.org/abs/2104.13395 · HTML: https://mlsanity.com/paper/2104.13395/

## Key facts

- Cited by 21 papers in the map (data through 14 Oct 2026).
- Builds on 64 of its 119 references that are in the map.
- First posted on arXiv 27 Apr 2021.

## Builds on (most cited first, 30 of 64)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Multi-Scale Context Aggregation by Dilated Convolutions](https://mlsanity.com/paper/1511.07122/) (2015)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Dual Attention Network for Scene Segmentation](https://mlsanity.com/paper/1809.02983/) (2018)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [CCNet: Criss-Cross Attention for Semantic Segmentation](https://mlsanity.com/paper/1811.11721/) (2018)
- [BiSeNet: Bilateral Segmentation Network for Real-time Semantic Segmentation](https://mlsanity.com/paper/1808.00897/) (2018)
- [Panoptic Feature Pyramid Networks](https://mlsanity.com/paper/1901.02446/) (2019)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [Segmentation Transformer: Object-Contextual Representations for Semantic Segmentation](https://mlsanity.com/paper/1909.11065/) (2019)
- [Semantic Image Segmentation with Deep Convolutional Nets and Fully Connected CRFs](https://mlsanity.com/paper/1412.7062/) (2014)
- [FDA: Fourier Domain Adaptation for Semantic Segmentation](https://mlsanity.com/paper/2004.05498/) (2020)
- [Hybrid Task Cascade for Instance Segmentation](https://mlsanity.com/paper/1901.07518/) (2019)
- [Domain Adaptive Faster R-CNN for Object Detection in the Wild](https://mlsanity.com/paper/1803.03243/) (2018)
- [Cascade R-CNN: High Quality Object Detection and Instance Segmentation](https://mlsanity.com/paper/1906.09756/) (2019)
- [Confidence Regularized Self-Training](https://mlsanity.com/paper/1908.09822/) (2019)
- [Semantic Foggy Scene Understanding with Synthetic Data](https://mlsanity.com/paper/1708.07819/) (2017)

## Built on by (most cited first, 21 of 21)

- [MIMO: A medical vision language model with visual referring multimodal input and pixel grounding multimodal output](https://mlsanity.com/paper/2510.10011/) (2025)
- [SegSTRONG-C: Segmenting Surgical Tools Robustly On Non-adversarial Generated Corruptions -- An EndoVis'24 Challenge](https://mlsanity.com/paper/2407.11906/) (2024)
- [Object detection in adverse weather conditions for autonomous vehicles using Instruct Pix2Pix](https://mlsanity.com/paper/2505.08228/) (2025)
- [RealDriveSim: A Realistic Multi-Modal Multi-Task Synthetic Dataset for Autonomous Driving](https://mlsanity.com/paper/2506.16319/) (2025)
- [DIP: Unsupervised Dense In-Context Post-training of Visual Representations](https://mlsanity.com/paper/2506.18463/) (2025)
- [From Filters to VLMs: Benchmarking Defogging Methods through Object Detection and Segmentation Performance](https://mlsanity.com/paper/2510.03906/) (2025)
- [IntrinsicWeather: Controllable Weather Editing in Intrinsic Space](https://mlsanity.com/paper/2508.06982/) (2025)
- [Panoptic-CUDAL: Rural Australia Point Cloud Dataset in Rainy Conditions](https://mlsanity.com/paper/2503.16378/) (2025)
- [Testing Between the Test Cases: Proving End-to-End Steering in Conditions You Never Drove](https://mlsanity.com/paper/2609.10951/) (2026)
- [Toward Fast, Flexible, and Robust Low-Light Image Enhancement](https://mlsanity.com/paper/2204.10137/) (2022)
- [Sun Off, Lights On: Photorealistic Monocular Nighttime Simulation for Robust Semantic Perception](https://mlsanity.com/paper/2407.20336/) (2024)
- [A Machine Learning Perspective on Automated Driving Corner Cases](https://mlsanity.com/paper/2510.10653/) (2025)
- [Test-Time Modification: Inverse Domain Transformation for Robust Perception](https://mlsanity.com/paper/2512.13454/) (2025)
- [Traffic Sign Recognition in Autonomous Driving: Dataset, Benchmark, and Field Experiment](https://mlsanity.com/paper/2603.23034/) (2026)
- [Robust Promptable Video Object Segmentation](https://mlsanity.com/paper/2605.12006/) (2026)
- [A Data Efficiency Study of Synthetic Fog for Object Detection Using the Clear2Fog Pipeline](https://mlsanity.com/paper/2605.12608/) (2026)
- [From Local Geometry to Global Pseudo Labeling for Robust Positive Unlabeled Learning under Covariate Shift](https://mlsanity.com/paper/2605.31187/) (2026)
- [Generative Semantic Segmentation via an Observable Semantic-Image Interface and Hierarchical Generator Evidence Alignment](https://mlsanity.com/paper/2608.11537/) (2026)
- [Ultra: Unsupervised Cross-Task Optimization for Reliable Restoration Segmentation Collaboration under Adverse Weather](https://mlsanity.com/paper/2608.16589/) (2026)
- [Weather-Conditioned Depth Anything](https://mlsanity.com/paper/2609.04827/) (2026)
- [MeteoVerse: Unified Weather-Controllable Video World Model](https://mlsanity.com/paper/2609.36810/) (2026)

## Abstract (arXiv)

Level-5 driving automation requires a robust visual perception system that can parse input images under any condition. However, existing driving datasets for dense semantic perception are either dominated by images captured under normal conditions or are small in scale. To address this, we introduce ACDC, the Adverse Conditions Dataset with Correspondences for training and testing methods for diverse semantic perception tasks on adverse visual conditions. ACDC consists of a large set of 8012 images, half of which (4006) are equally distributed between four common adverse conditions: fog, nighttime, rain, and snow. Each adverse-condition image comes with a high-quality pixel-level panoptic annotation, a corresponding image of the same scene under normal conditions, and a binary mask that distinguishes between intra-image regions of clear and uncertain semantic content. 1503 of the corresponding normal-condition images feature panoptic annotations, raising the total annotated images to 5509. ACDC supports the standard tasks of semantic segmentation, object detection, instance segmentation, and panoptic segmentation, as well as the newly introduced uncertainty-aware semantic segmentation. A detailed empirical study demonstrates the challenges that the adverse domains of ACDC pose to state-of-the-art supervised and unsupervised approaches and indicates the value of our dataset in steering future progress in the field. Our dataset and benchmark are publicly available at https://acdc.vision.ee.ethz.ch