Autonomous Driving Datasets, last updated 2025-05-14

Y – Year
C – Camera
L – LiDAR
R – RADAR
I – IMU
G – GNSS
T – Time of day
S – Scene
Notes – link, specialities, noteworthy.

#

Year

Name

C

L

R

T

I

G

W

T

S

Notes

1

9999

Foggy Cityscape

✅

❌

❌

❌

❌

Fog

Day

Urban, Highway

Link

2

Foggy Driving

✅

❌

❌

❌

❌

Fog

Day

Urban, Highway

Link

3

FRIDA

✅

❌

❌

Link

4

FRIDA 2

✅

❌

❌

Link

5

MultiFog KITTI

✅

❌

❌

Link

6

FoggyCULane

❌

❌

❌

Link

7

PTAW172 Synth

✅

❌

❌

❌

8

AWSS

✅

❌

❌

❌

9

RADIATE

✅

✅

✅

✅

✅

Fog, Snow, Rain.

Day & Night

Urban & Highway

Link

10

TJU-DHD

✅

❌

❌

Link

11

DAWN

✅

❌

❌

Link

12

Waymo

✅

✅

❌

Link

13

DENSE Seeing Through Fog

✅

✅

❌

14

ACDC

✅

❌

❌

15

nuScenes

✅

✅

✅

✅

✅

✅

Name

C

L

R

T

I

G

W

T

S

Links Notes

16

nuImages

✅

✅

✅

✅

✅

✅

Link

17

Boxy

✅

❌

❌

Link (Needs reg.)

18

BOD100K

✅

❌

❌

Link

19

EuroCity Persons

✅

❌

❌

Link

20

NightOwls

✅

❌

❌

Link

21

JAAD

✅

❌

❌

Link

22

Virtual KITTI

✅

❌

❌

Link

23

Playing for Benchmarks

✅

❌

❌

Link

24

Apollo Synthetic

✅

❌

❌

Link

25

CADC

✅

✅

❌

Link

26

Winter Adverse Driving Dataset

❌

✅

❌

Link

27

Boreas

✅

✅

❌

✅

✅

✅

Snow, Rain, Multiple Seasons

Link

28

ROADVIEW

✅

✅

✅

✅

✅

✅

Snow, Rain, Multiple Seasons

Day

Link

#

Year

Name

C

L

R

T

I

G

W

T

S

Notes

1

9999

Foggy Cityscape

✅

❌

❌

❌

❌

Fog

Day

Urban, Highway

Link

2

Foggy Driving

✅

❌

❌

❌

❌

Fog

Day

Urban, Highway

Link

3

FRIDA

✅

❌

❌

Link

4

FRIDA 2

✅

❌

❌

Link

5

MultiFog KITTI

✅

❌

❌

Link

6

FoggyCULane

❌

❌

❌

Link

7

PTAW172 Synth

✅

❌

❌

❌

8

AWSS

✅

❌

❌

❌

9

RADIATE

✅

✅

✅

✅

✅

Fog, Snow, Rain.

Day & Night

Urban & Highway

Link

10

TJU-DHD

✅

❌

❌

Link

11

DAWN

✅

❌

❌

Link

12

Waymo

✅

✅

❌

Link

13

DENSE Seeing Through Fog

✅

✅

❌

14

ACDC

✅

❌

❌

15

nuScenes

✅

✅

✅

✅

✅

✅

Name

C

L

R

T

I

G

W

T

S

Links Notes

16

nuImages

✅

✅

✅

✅

✅

✅

Link

17

Boxy

✅

❌

❌

Link (Needs reg.)

18

BOD100K

✅

❌

❌

Link

19

EuroCity Persons

✅

❌

❌

Link

20

NightOwls

✅

❌

❌

Link

21

JAAD

✅

❌

❌

Link

22

Virtual KITTI

✅

❌

❌

Link

23

Playing for Benchmarks

✅

❌

❌

Link

24

Apollo Synthetic

✅

❌

❌

Link

25

CADC

✅

✅

❌

Link

26

Winter Adverse Driving Dataset

❌

✅

❌

Link

27

Boreas

✅

✅

❌

✅

✅

✅

Snow, Rain, Multiple Seasons

Link

28

ROADVIEW

✅

✅

✅

✅

✅

✅

Snow, Rain, Multiple Seasons

Day

Link