# Framework and Multi-modal Dataset for Roadwork Zone Detection and Geo-localization

arXiv: https://arxiv.org/abs/2607.04330 · HTML: https://mlsanity.com/paper/2607.04330/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 49 references that are in the map.
- First posted on arXiv 5 Jul 2026.

## Builds on (most cited first, 26 of 26)

- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [MMDetection: Open MMLab Detection Toolbox and Benchmark](https://mlsanity.com/paper/1906.07155/) (2019)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation](https://mlsanity.com/paper/2002.10111/) (2020)
- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [Objects are Different: Flexible Monocular 3D Object Detection](https://mlsanity.com/paper/2104.02323/) (2021)
- [MVX-Net: Multimodal VoxelNet for 3D Object Detection](https://mlsanity.com/paper/1904.01649/) (2019)
- [GS3D: An Efficient 3D Object Detection Framework for Autonomous Driving](https://mlsanity.com/paper/1903.10955/) (2019)
- [Ground-aware Monocular 3D Object Detection for Autonomous Driving](https://mlsanity.com/paper/2102.00690/) (2021)
- [AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics](https://mlsanity.com/paper/2008.08063/) (2020)
- [Monocular 3D Object Detection with Decoupled Structured Polygon Estimation and Height-Guided Depth Estimation](https://mlsanity.com/paper/2002.01619/) (2020)
- [Automatic Discovery and Geotagging of Objects from Street View Imagery](https://mlsanity.com/paper/1708.08417/) (2017)
- [Simultaneous multi-view instance detection with learned geometric soft-constraints](https://mlsanity.com/paper/1907.10892/) (2019)
- [3D Dual-Fusion: Dual-Domain Dual-Query Camera-LiDAR Fusion for 3D Object Detection](https://mlsanity.com/paper/2211.13529/) (2022)
- [Calib-Anything: Zero-training LiDAR-Camera Extrinsic Calibration Method Using Segment Anything](https://mlsanity.com/paper/2306.02656/) (2023)
- [Object Tracking and Geo-localization from Street Images](https://mlsanity.com/paper/2107.06257/) (2021)
- [TraCon: A novel dataset for real-time traffic cones detection using deep learning](https://mlsanity.com/paper/2205.11830/) (2022)
- [Geolocation estimation of target vehicles using image processing and geometric computation](https://mlsanity.com/paper/2203.10938/) (2022)

## Built on by (most cited first, 1 of 1)

- [WZPlanner: Safe End-to-End Path Planning for Autonomous Driving in Work Zones](https://mlsanity.com/paper/2609.19393/) (2026)

## Abstract (arXiv)

Autonomous vehicles often rely on high-definition (HD) maps for navigation; however, these maps are not frequently updated and often lack semi-static information, such as temporary roadwork zones, which can significantly alter the road network. This limitation underscores the urgent need for an accurate global position of roadwork zones. However, the absence of publicly available datasets for evaluating roadwork zone detection and geo-localization models has hindered the development of reliable autonomous driving systems. To address this challenge, we propose the Roadwork Zone Detection and Geo-localization (RZDG) dataset, which includes both simulated and real-world data, providing multimodal sensor inputs along with comprehensive annotations. The dataset supports multiple perception tasks, including image semantic segmentation, 3D object detection, and object geo-localization. In addition, we introduce a tracker-based roadwork zone detection and geo-localization (RZDG) pipeline, an extension of AB3DMOT, for accurate object geo-localization in roadwork zones. We benchmark our approach on the RZDG dataset, demonstrating its effectiveness in detecting roadwork zones and transforming object positions from the local coordinate system to the global coordinate system. A prediction is considered a true positive (TP) if its estimated position falls within one meter of the ground truth. Our experimental results show that our approach achieves high accuracy on both real and simulated data. Specifically, we report: Precision: 0.565 (real) / 0.615 (simulated) Recall: 0.898 (real) / 0.809 (simulated) F1-score: 0.597 (real) / 0.665 (simulated).