Data to 7 Oct 2026

Boreas: A Multi-Season Autonomous Driving Dataset

arXiv 2203.10168 ↗First posted 18 Mar 2022cs.ROcited by 75

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Abstract (arXiv)

The Boreas dataset was collected by driving a repeated route over the course of one year, resulting in stark seasonal variations and adverse weather conditions such as rain and falling snow. In total, the Boreas dataset includes over 350km of driving data featuring a 128-channel Velodyne Alpha Prime lidar, a 360^circ Navtech CIR304-H scanning radar, a 5MP FLIR Blackfly S camera, and centimetre-accurate post-processed ground truth poses. Our dataset will support live leaderboards for odometry, metric localization, and 3D object detection. The dataset and development kit are available at https://www.boreas.utias.utoronto.ca

Key facts. Cited by 75 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Mar 2022.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 16; 2024: 21; 2025: 17; 2026: 19.

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2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
2023Robust Monocular Depth Estimation under Challenging Conditionscited by 58
2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 57
2024MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertaintycited by 32
2022Refign: Align and Refine for Adaptation of Semantic Segmentation to Adverse Conditionscited by 31
2024General Place Recognition Survey: Towards Real-World Autonomycited by 23
2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
2024ROADWork: A Dataset and Benchmark for Learning to Recognize, Observe, Analyze and Drive Through Work Zonescited by 20
2024Radar Fields: Frequency-Space Neural Scene Representations for FMCW Radarcited by 18
2023WildScenes: A Benchmark for 2D and 3D Semantic Segmentation in Large-scale Natural Environmentscited by 16
2024VBR: A Vision Benchmark in Romecited by 15
2025RadarSplat: Radar Gaussian Splatting for High-Fidelity Data Synthesis and 3D Reconstruction of Autonomous Driving Scenescited by 15

38 more

2023Contrastive Model Adaptation for Cross-Condition Robustness in Semantic Segmentationcited by 12
2024Enabling Visual Recognition at Radio Frequencycited by 11
2023Radars for Autonomous Driving: A Review of Deep Learning Methods and Challengescited by 10
2022Common Corruption Robustness of Point Cloud Detectors: Benchmark and Enhancementcited by 9
2024Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditionscited by 9
2024Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Surveycited by 9
2025RIPE: Reinforcement Learning on Unlabeled Image Pairs for Robust Keypoint Extractioncited by 9
2023DistilVPR: Cross-Modal Knowledge Distillation for Visual Place Recognitioncited by 8
2024ContextVLM: Zero-Shot and Few-Shot Context Understanding for Autonomous Driving using Vision Language Modelscited by 8
2025Register Any Point: Scaling 3D Point Cloud Registration by Flow Matchingcited by 8
2023Eiffel Tower: A Deep-Sea Underwater Dataset for Long-Term Visual Localizationcited by 7
2024TripleMixer: A 3D Point Cloud Denoising Model for Adverse Weathercited by 7
2024PointDifformer: Robust Point Cloud Registration With Neural Diffusion and Transformercited by 6
2025Towards Foundational Models for Single-Chip Radarcited by 6
2023RaLF: Flow-based Global and Metric Radar Localization in LiDAR Mapscited by 5
2023TPSeNCE: Towards Artifact-Free Realistic Rain Generation for Deraining and Object Detection in Raincited by 5
2023RobustMat: Neural Diffusion for Street Landmark Patch Matching under Challenging Environmentscited by 5
2024XLM for Autonomous Driving Systems: A Comprehensive Reviewcited by 5
2025HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAMcited by 5
2024ROVER: A Multi-Season Dataset for Visual SLAMcited by 4
2025RF4D:Neural Radar Fields for Novel View Synthesis in Outdoor Dynamic Scenescited by 4
2023Benchmarking Robustness of AI-Enabled Multi-sensor Fusion Systems: Challenges and Opportunitiescited by 3
2025LRFusionPR: A Polar BEV-Based LiDAR-Radar Fusion Network for Place Recognitioncited by 3
2023Improving Extrinsics between RADAR and LIDAR using Learningcited by 2
2023A Survey on Datasets for Decision-making of Autonomous Vehiclecited by 2
2024PosDiffNet: Positional Neural Diffusion for Point Cloud Registration in a Large Field of View with Perturbationscited by 2
2024PRFusion: Toward Effective and Robust Multi-Modal Place Recognition with Image and Point Cloud Fusioncited by 2
2024MOANA: Multi-Radar Dataset for Maritime Odometry and Autonomous Navigation Applicationcited by 2
2025Adverse Weather Conditions Augmentation of LiDAR Scenes with Latent Diffusion Modelscited by 2
2025nuScenes Revisited: Progress and Challenges in Autonomous Drivingcited by 2
2025UniMPR: A Unified Framework for Multimodal Place Recognition with Heterogeneous Sensor Configurationscited by 2
2026HorizonWeaver: Generalizable Multi-Level Semantic Editing for Driving Scenescited by 2
2023Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weightscited 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
2025RaSCL: Radar to Satellite Crossview Localizationcited by 1
2025VALISENS: A Validated Innovative Multi-Sensor System for Cooperative Automated Drivingcited by 1
2025How Hard Is Snow? A Paired Domain Adaptation Dataset for Clear and Snowy Weather: CADC+cited by 1

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