mlsanityData to 7 Oct 2026

Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous driving

arXiv 2305.02008 ↗First posted 3 May 2023cs.CV cs.LG cs.ROcited by 83

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Abstract (arXiv)

Existing datasets for autonomous driving (AD) often lack diversity and long-range capabilities, focusing instead on 360deg perception and temporal reasoning. To address this gap, we introduce Zenseact Open Dataset (ZOD), a large-scale and diverse multimodal dataset collected over two years in various European countries, covering an area 9x that of existing datasets. ZOD boasts the highest range and resolution sensors among comparable datasets, coupled with detailed keyframe annotations for 2D and 3D objects (up to 245m), road instance/semantic segmentation, traffic sign recognition, and road classification. We believe that this unique combination will facilitate breakthroughs in long-range perception and multi-task learning. The dataset is composed of Frames, Sequences, and Drives, designed to encompass both data diversity and support for spatio-temporal learning, sensor fusion, localization, and mapping. Frames consist of 100k curated camera images with two seconds of other supporting sensor data, while the 1473 Sequences and 29 Drives include the entire sensor suite for 20 seconds and a few minutes, respectively. ZOD is the only large-scale AD dataset released under a permissive license, allowing for both research and commercial use. More information, and an extensive devkit, can be found at https://zod.zenseact.com

Key facts. Cited by 83 papers in the map (data through 7 Oct 2026). Builds on 20 of its 39 references that are in the map. First posted on arXiv 3 May 2023.

Builds on

20 of 39 references.

References · 20

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  3. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  4. 2016Feature Pyramid Networks for Object Detectioncited by 5,021
  5. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  6. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,427
  7. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  8. 2018BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learningcited by 1,282
  9. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  10. 2022YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectorscited by 978
  11. 2017A Survey on Multi-Task Learningcited by 838
  12. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
8 more
  1. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  2. 2019Panoptic-DeepLabcited by 362
  3. 2021One Million Scenes for Autonomous Driving: ONCE Datasetcited by 218
  4. 2020A2D2: Audi Autonomous Driving Datasetcited by 189
  5. 2018The ApolloScape Open Dataset for Autonomous Driving and its Applicationcited by 188
  6. 2021PandaSet: Advanced Sensor Suite Dataset for Autonomous Drivingcited by 186
  7. 2019The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenescited by 80
  8. 2019The Mapillary Traffic Sign Dataset for Detection and Classification on a Global Scalecited by 49

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 26; 2025: 24; 2026: 28.

83 papers.

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  1. 2023NeuRAD: Neural Rendering for Autonomous Drivingcited by 146
  2. 2024SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Drivingcited by 66
  3. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  4. 2024NeuroNCAP: Photorealistic Closed-loop Safety Testing for Autonomous Drivingcited by 61
  5. 2023Localization Is All You Evaluate: Data Leakage in Online Mapping Datasets and How to Fix Itcited by 44
  6. 2024MAN TruckScenes: A multimodal dataset for autonomous trucking in diverse conditionscited by 41
  7. 2025Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysiscited by 37
  8. 2024MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertaintycited by 32
  9. 2024DrivingDojo Dataset: Advancing Interactive and Knowledge-Enriched Driving World Modelcited by 25
  10. 2024Forging Vision Foundation Models for Autonomous Driving: Challenges, Methodologies, and Opportunitiescited by 24
  11. 2024Are NeRFs ready for autonomous driving? Towards closing the real-to-simulation gapcited by 20
  12. 2026DrivingGen: A Comprehensive Benchmark for Generative Video World Models in Autonomous Drivingcited by 20
38 more
  1. 2024Multiagent Multitraversal Multimodal Self-Driving: Open MARS Datasetcited by 18
  2. 2025R3D2: Realistic 3D Asset Insertion via Diffusion for Autonomous Driving Simulationcited by 17
  3. 2025PRIX: Learning to Plan from Raw Pixels for End-to-End Autonomous Drivingcited by 16
  4. 2025Perspective-Invariant 3D Object Detectioncited by 16
  5. 2023MS3D++: Ensemble of Experts for Multi-Source Unsupervised Domain Adaptation in 3D Object Detectioncited by 14
  6. 2024DriveDiTFit: Fine-tuning Diffusion Transformers for Autonomous Drivingcited by 11
  7. 2025HiMo: High-Speed Objects Motion Compensation in Point Cloudscited by 11
  8. 2025Learning-based 3D Reconstruction in Autonomous Driving: A Comprehensive Surveycited by 9
  9. 2025R-LiViT: A LiDAR-Visual-Thermal Dataset Enabling Vulnerable Road User Focused Roadside Perceptioncited by 9
  10. 2025Register Any Point: Scaling 3D Point Cloud Registration by Flow Matchingcited by 8
  11. 2024Bosch Street Dataset: A Multi-Modal Dataset with Imaging Radar for Automated Drivingcited by 7
  12. 2025NeuRadar: Neural Radiance Fields for Automotive Radar Point Cloudscited by 7
  13. 2025DeltaFlow: An Efficient Multi-frame Scene Flow Estimation Methodcited by 7
  14. 2023Towards Long-Range 3D Object Detection for Autonomous Vehiclescited by 5
  15. 2024Vulnerable Road User Detection and Safety Enhancement: A Comprehensive Surveycited by 5
  16. 2024XLM for Autonomous Driving Systems: A Comprehensive Reviewcited by 5
  17. 2024Hard Cases Detection in Motion Prediction by Vision-Language Foundation Modelscited by 4
  18. 2024SS3DM: Benchmarking Street-View Surface Reconstruction with a Synthetic 3D Mesh Datasetcited by 4
  19. 2025GASP: Unifying Geometric and Semantic Self-Supervised Pre-training for Autonomous Drivingcited by 4
  20. 2025RASMD: RGB And SWIR Multispectral Driving Dataset for Robust Perception in Adverse Conditionscited by 3
  21. 2026DrivIng: A Large-Scale Multimodal Driving Dataset with Full Digital Twin Integrationcited by 3
  22. 2024Addressing Data Annotation Challenges in Multiple Sensors: A Solution for Scania Collected Datasetscited by 2
  23. 2024SemanticSpray++: A Multimodal Dataset for Autonomous Driving in Wet Surface Conditionscited by 2
  24. 2024Improving Adversarial Robustness via Decoupled Visual Representation Maskingcited by 2
  25. 2025Range and Bird's Eye View Fused Cross-Modal Visual Place Recognitioncited by 2
  26. 2025A Novel Multi-layer Task-centric and Data Quality Framework for Autonomous Drivingcited by 2
  27. 2025nuScenes Revisited: Progress and Challenges in Autonomous Drivingcited by 2
  28. 2026TerraSeg: Self-Supervised Ground Segmentation for Any LiDARcited by 2
  29. 2026DSERT-RoLL: Robust Multi-Modal Perception for Diverse Driving Conditions with Stereo Event-RGB-Thermal Cameras, 4D Radar, and Dual-LiDARcited by 2
  30. 2024Comparing Optical Flow and Deep Learning to Enable Computationally Efficient Traffic Event Detection with Space-Filling Curvescited by 1
  31. 2024ROAD-Waymo: A Large-Scale Action Awareness Dataset for Autonomous Drivingcited by 1
  32. 2025Probabilistic Hyper-Graphs using Multiple Randomly Masked Autoencoders for Semi-supervised Multi-modal Multi-task Learningcited by 1
  33. 2025PAVE: An End-to-End Dataset for Production Autonomous Vehicle Evaluationcited by 1
  34. 2026A global dataset of continuous urban dashcam drivingcited by 1
  35. 2026SynFlow: Scaling Up LiDAR Scene Flow Estimation with Synthetic Datacited by 1
  36. 2026CARD: A Multi-Modal Automotive Dataset for Dense 3D Reconstruction in Challenging Road Topographycited by 1
  37. 2026The Road Ahead in Autonomous Driving: The KITScenes Multimodal Datasetcited by 1
  38. 2026World-Action Models for Robot Learning and Control: A Surveycited by 1

50 most cited of 83 All 83 (JSON)

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  1. 2026123D: Unifying Multi-Modal Autonomous Driving Data at Scale
  2. 2024OpenEMMA: Open-Source Multimodal Model for End-to-End Autonomous Driving
  3. 2024RoboTron-Drive: All-in-One Large Multimodal Model for Autonomous Driving
  4. 2026StandardE2E: A Unified Framework for End-to-End Autonomous Driving Datasets
  5. 2025Advancing Off-Road Autonomous Driving: The Large-Scale ORAD-3D Dataset and Comprehensive Benchmarks
  6. 2025CARScenes: Semantic VLM Dataset for Safe Autonomous Driving
  7. 2025Leveraging Text-Driven Semantic Variation for Robust OOD Segmentation
  8. 2024OpenAD: Open-World Autonomous Driving Benchmark for 3D Object Detection