Datasets › MUSES: MUlti-SEnsor Semantic perception dataset
MUSES: MUlti-SEnsor Semantic perception dataset (The Multi-Sensor Semantic Perception Dataset for Driving under Uncertainty)
MUSES offers 2500 multi-modal scenes, evenly distributed across various combinations of weather conditions (clear, fog, rain, and snow) and types of illumination (daytime, nighttime). Each image includes high-quality 2D pixel-level panoptic annotations and class-level and novel instance-level uncertainty annotations. Further, each adverse-condition image has a corresponding image of the same scene taken under clear-weather, daytime conditions. The annotation process for MUSES utilizes all available sensor data, allowing the annotators to also reliably label degraded image regions that are still discernible in other modalities. This results in better pixel coverage in the annotations and creates a more challenging evaluation setup.
The dataset provides public benchmarks for:
- Panoptic segmentation
- Uncertainty-aware panoptic segmentation
- Semantic segmentation
- Object detection
Sensor modalities included:
- Frame camera (RGB)
- MEMS lidar
- FMCW radar
- HD event camera
- IMU/GNSS sensor
Benchmarks archive 2025-07-28
All 5 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.
| First row (archive order) | Paper | Code | ||||
|---|---|---|---|---|---|---|
| Unsupervised Panoptic Segmentation | MUSES: MUlti-SEnsor Semantic perception dataset | CUPS (40 pseudo-classes) PQ 28.2 | Scene-Centric Unsupervised Panoptic Segmentation | visinf/cups | 4 | Compare |
| Panoptic Segmentation | MUSES: MUlti-SEnsor Semantic perception dataset | CAFuser (Swin-T) PQ 59.7 | CAFuser: Condition-Aware Multimodal Fusion for Robust... | timbroed/cafuser | 2 | Compare |
| Semantic Segmentation | MUSES: MUlti-SEnsor Semantic perception dataset | CAFuser (Swin-T) mIoU 78.2 | CAFuser: Condition-Aware Multimodal Fusion for Robust... | timbroed/cafuser | 2 | Compare |
| Object Detection | MUSES: MUlti-SEnsor Semantic perception dataset | Mask2Former (R50) AP 28.14 | MUSES: The Multi-Sensor Semantic Perception Dataset for... | timbroed/MUSES | 1 | Compare |
| Uncertainty-Aware Panoptic Segmentation | MUSES: MUlti-SEnsor Semantic perception dataset | Mask2Former (Swin-T) AUPQ 44.3 | MUSES: The Multi-Sensor Semantic Perception Dataset for... | timbroed/MUSES | 1 | Compare |
Papers archive 2025-07-28
4 shown of 4 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 4. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.
| Date | Samples run Syntology | |||
|---|---|---|---|---|
| Scene-Centric Unsupervised Panoptic Segmentation | 1 | 3 | 2 Apr 2025 | ran 0 of 8 samples (8 unverified) |
| CAFuser: Condition-Aware Multimodal Fusion for Robust Semantic Perception of Driving Scenes | 1 | 2 | 14 Oct 2024 | ran 1 of 1 samples (0 unverified) |
| MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertainty | 1 | 4 | 23 Jan 2024 | ran 12 of 13 samples (1 unverified; 13 pointer-only for licence) |
| Unsupervised Universal Image Segmentation | 2 | 1 | 28 Dec 2023 | ran 13 of 15 samples (2 unverified) |
Dataset loaders archive 2025-07-28
No loader listed in the archive.
Tasks archive 2025-07-28
License archive 2025-07-28
No licence recorded in the archive. Absence here is not a statement about the dataset's terms.
Modalities archive 2025-07-28
Languages archive 2025-07-28
No language tagged.
Variants archive 2025-07-28
- MUSES: MUlti-SEnsor Semantic perception dataset
1 variant name, as the archive lists them.
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