mlsanityData to 14 Oct 2026

Perception and Sensing for Autonomous Vehicles Under Adverse Weather Conditions: A Survey

arXiv 2112.08936 ↗First posted 16 Dec 2021cs.ROcited by 82

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Abstract (arXiv)

Automated Driving Systems (ADS) open up a new domain for the automotive industry and offer new possibilities for future transportation with higher efficiency and comfortable experiences. However, autonomous driving under adverse weather conditions has been the problem that keeps autonomous vehicles (AVs) from going to level 4 or higher autonomy for a long time. This paper assesses the influences and challenges that weather brings to ADS sensors in an analytic and statistical way, and surveys the solutions against inclement weather conditions. State-of-the-art techniques on perception enhancement with regard to each kind of weather are thoroughly reported. External auxiliary solutions, weather conditions coverage in currently available datasets, simulators, and experimental facilities with weather chambers are distinctly sorted out. Additionally, potential future ADS sensors candidates and approaches beyond common senses are provided. By looking into all kinds of major weather problems the autonomous driving field is currently facing, and reviewing both hardware and computer science solutions in recent years, this survey points out the main moving trends of adverse weather problems in autonomous driving, i.e., advanced sensor fusions, more sophisticated networks, and V2X & IoT technologies; and also the limitations brought by emerging 1550 nm LiDARs. In general, this work contributes a holistic overview of the obstacles and directions of ADS development in terms of adverse weather driving conditions.

Key facts. Cited by 82 papers in the map (data through 14 Oct 2026). First posted on arXiv 16 Dec 2021.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 10; 2024: 18; 2025: 29; 2026: 25.

82 papers.

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  1. 2025NuPlanQA: A Large-Scale Dataset and Benchmark for Multi-View Driving Scene Understanding in Multi-Modal Large Language Modelscited by 30
  2. 2025Out-of-Distribution Generalization in Time Series: A Surveycited by 16
  3. 2023WeatherDepth: Curriculum Contrastive Learning for Self-Supervised Depth Estimation under Adverse Weather Conditionscited by 15
  4. 2024Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perceptioncited by 15
  5. 2025AirV2X: Unified Air-Ground Vehicle-to-Everything Collaborationcited by 11
  6. 2023Generating Evidential BEV Maps in Continuous Driving Spacecited by 10
  7. 2023Radars for Autonomous Driving: A Review of Deep Learning Methods and Challengescited by 10
  8. 2024CR3DT: Camera-RADAR Fusion for 3D Detection and Trackingcited by 10
  9. 2024Monocular 3D lane detection for Autonomous Driving: Recent Achievements, Challenges, and Outlookscited by 9
  10. 2024Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditionscited by 9
  11. 2024TripleMixer: A 3D Point Cloud Denoising Model for Adverse Weathercited by 7
  12. 2024Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutionscited by 7
38 more
  1. 2023EpiTESTER: Testing Autonomous Vehicles with Epigenetic Algorithm and Attention Mechanismcited by 6
  2. 2025DeepSeek-Inspired Exploration of RL-based LLMs and Synergy with Wireless Networks: A Surveycited by 6
  3. 2025VISLIX: An XAI Framework for Validating Vision Models with Slice Discovery and Analysiscited by 5
  4. 2025A Survey of Multi-sensor Fusion Perception for Embodied AI: Background, Methods, Challenges and Prospectscited by 5
  5. 2025Spatial Retrieval Augmented Autonomous Drivingcited by 5
  6. 2023Compensating for Sensing Failures via Delegation in Human-AI Hybrid Systemscited by 4
  7. 2023TWICE Dataset: Digital Twin of Test Scenarios in a Controlled Environmentcited by 4
  8. 2024Improving Robustness of LiDAR-Camera Fusion Model against Weather Corruption from Fusion Strategy Perspectivecited by 4
  9. 2024HazeSpace2M: A Dataset for Haze Aware Single Image Dehazingcited by 4
  10. 2025Transfer Learning in Latent Contextual Bandits with Covariate Shift Through Causal Transportabilitycited by 4
  11. 2025Deep Depth Estimation from Thermal Image: Dataset, Benchmark, and Challengescited by 4
  12. 2025CSNR and JMIM Based Spectral Band Selection for Reducing Metamerism in Urban Drivingcited by 4
  13. 2025Hyperspectral vs. RGB for Pedestrian Segmentation in Urban Driving Scenes: A Comparative Studycited by 4
  14. 2024Optimizing Delegation in Collaborative Human-AI Hybrid Teamscited by 3
  15. 2024PLT-D3: A High-fidelity Dynamic Driving Simulation Dataset for Stereo Depth and Scene Flowcited by 3
  16. 2024DAP-LED: Learning Degradation-Aware Priors with CLIP for Joint Low-light Enhancement and Deblurringcited by 3
  17. 2026The Era of End-to-End Autonomy: Transitioning from Rule-Based Driving to Large Driving Modelscited by 3
  18. 2024Cityscape-Adverse: Benchmarking Robustness of Semantic Segmentation with Realistic Scene Modifications via Diffusion-Based Image Editingcited by 2
  19. 2025How Hard Is Snow? A Paired Domain Adaptation Dataset for Clear and Snowy Weather: CADC+cited by 2
  20. 2025DriveMRP: Enhancing Vision-Language Models with Synthetic Motion Data for Motion Risk Predictioncited by 2
  21. 2026Boosting Instance Awareness via Cross-View Correlation with 4D Radar and Camera for 3D Object Detectioncited by 2
  22. 2026AutoAWG: Adverse Weather Generation with Adaptive Multi-Controls for Automotive Videoscited by 2
  23. 2023Attention Based Feature Fusion For Multi-Agent Collaborative Perceptioncited by 1
  24. 2024Predicting the Influence of Adverse Weather on Pedestrian Detection with Automotive Radar and Lidar Sensorscited by 1
  25. 2024Is That Rain? Understanding Effects on Visual Odometry Performance for Autonomous UAVs and Efficient DNN-based Rain Classification at the Edgecited by 1
  26. 2025OmniUnet: A Multimodal Network for Unstructured Terrain Segmentation on Planetary Rovers Using RGB, Depth, and Thermal Imagerycited by 1
  27. 2025Model Context Protocols in Adaptive Transport Systems: A Surveycited by 1
  28. 2025Evaluating an Adaptive Multispectral Turret System for Autonomous Tracking Across Variable Illumination Conditionscited by 1
  29. 2026Attention-Based Neural-Augmented Kalman Filter for Legged Robot State Estimationcited by 1
  30. 2026On the Assessment of Sensitivity of Autonomous Vehicle Perceptioncited by 1
  31. 2026Remote Sensing Image Dehazing: A Systematic Review of Progress, Challenges, and Prospectscited by 1
  32. 20264D Radar Meets LiDAR and Camera: Cooperative Perception under Adverse Weathercited by 1
  33. 2026ObsDriveBench: Benchmarking Multimodal Understanding under Adverse Weather with Observability Awarenesscited by 1
  34. 2023Radar-Lidar Fusion for Object Detection by Designing Effective Convolution Networkscited by 0
  35. 2023Segmentation of Drone Collision Hazards in Airborne RADAR Point Clouds Using PointNetcited by 0
  36. 2023STEREOFOG -- Computational DeFogging via Image-to-Image Translation on a real-world Datasetcited by 0
  37. 2024GT-Rain Single Image Deraining Challenge Reportcited by 0
  38. 2024Enhanced Automotive Object Detection via RGB-D Fusion in a DiffusionDet Frameworkcited by 0

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