InfraParis: A Multi-Modal and Multi-Task Autonomous Driving Dataset

Abstract

Current deep neural networks (DNNs) for autonomous driving computer vision are typically trained on specific datasets that only involve a single type of data and urban scenes. Consequently, these models struggle to handle new objects, noise, nighttime conditions, and diverse scenarios, which is essential for safety-critical applications. Despite ongoing efforts to enhance the resilience of computer vision DNNs, progress has been sluggish, partly due to the absence of benchmarks featuring multiple modalities. We introduce a novel and versatile dataset named InfraParis that supports multiple tasks across three modalities: RGB, depth, and infrared. We assess various state-of-the-art baseline techniques, encompassing models for the tasks of semantic segmentation, object detection, and depth estimation.