{"url":"/dataset/muses-multi-sensor-semantic-perception","name":"MUSES: MUlti-SEnsor Semantic perception dataset","full_name":"The Multi-Sensor Semantic Perception Dataset for Driving under Uncertainty","description_markdown":"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.\r\n\r\nThe dataset provides public benchmarks for:\r\n\r\n- Panoptic segmentation\r\n- Uncertainty-aware panoptic segmentation\r\n- Semantic segmentation\r\n- Object detection\r\n\r\nSensor modalities included:\r\n\r\n- Frame camera (RGB)\r\n- MEMS lidar\r\n- FMCW radar\r\n- HD event camera\r\n- IMU/GNSS sensor","description_withheld":null,"homepage":"https://muses.vision.ee.ethz.ch","introduced_date":"2024-05-29","introduced_date_note":null,"introduced_by":{"paper":"/paper/muses-the-multi-sensor-semantic-perception","title":"MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertainty","first_author":"Tim Brödermann","url":null},"license":null,"modalities":[{"name":"Images","url":"/datasets/modality/images"},{"name":"Point cloud","url":"/datasets/modality/point-cloud"},{"name":"RGB-D","url":"/datasets/modality/rgb-d"},{"name":"LiDAR","url":"/datasets/modality/lidar"}],"tasks":[{"name":"Object Detection","url":"/task/object-detection","datasets_with_task":"/datasets/task/object-detection"},{"name":"Semantic Segmentation","url":"/task/semantic-segmentation","datasets_with_task":"/datasets/task/semantic-segmentation"},{"name":"Panoptic Segmentation","url":"/task/panoptic-segmentation","datasets_with_task":"/datasets/task/panoptic-segmentation"},{"name":"Unsupervised Panoptic Segmentation","url":"/task/unsupervised-panoptic-segmentation","datasets_with_task":"/datasets/task/unsupervised-panoptic-segmentation"},{"name":"Uncertainty-Aware Panoptic Segmentation","url":"/task/uncertainty-aware-panoptic-segmentation","datasets_with_task":"/datasets/task/uncertainty-aware-panoptic-segmentation"}],"languages":[],"variants":["MUSES: MUlti-SEnsor Semantic perception dataset"],"data_loaders":[],"num_papers_in_archive":4,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/unsupervised-panoptic-segmentation-on-muses","task":"Unsupervised Panoptic Segmentation","dataset_variant":"MUSES: MUlti-SEnsor Semantic perception dataset","rows":4,"metrics":["PQ"],"first_row_in_archive_order":{"model":"CUPS (40 pseudo-classes)","paper":"/paper/scene-centric-unsupervised-panoptic","metrics":{"PQ":"28.2"},"code_links":[{"title":"visinf/cups","url":"https://github.com/visinf/cups"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/panoptic-segmentation-on-muses-multi-sensor-1","task":"Panoptic Segmentation","dataset_variant":"MUSES: MUlti-SEnsor Semantic perception dataset","rows":2,"metrics":["PQ"],"first_row_in_archive_order":{"model":"CAFuser (Swin-T)","paper":"/paper/condition-aware-multimodal-fusion-for-robust","metrics":{"PQ":"59.7"},"code_links":[{"title":"timbroed/cafuser","url":"https://github.com/timbroed/cafuser"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/semantic-segmentation-on-muses-multi-sensor","task":"Semantic Segmentation","dataset_variant":"MUSES: MUlti-SEnsor Semantic perception dataset","rows":2,"metrics":["mIoU"],"first_row_in_archive_order":{"model":"CAFuser (Swin-T)","paper":"/paper/condition-aware-multimodal-fusion-for-robust","metrics":{"mIoU":"78.2"},"code_links":[{"title":"timbroed/cafuser","url":"https://github.com/timbroed/cafuser"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/object-detection-on-muses-multi-sensor","task":"Object Detection","dataset_variant":"MUSES: MUlti-SEnsor Semantic perception dataset","rows":1,"metrics":["AP"],"first_row_in_archive_order":{"model":"Mask2Former (R50)","paper":"/paper/muses-the-multi-sensor-semantic-perception","metrics":{"AP":"28.14"},"code_links":[{"title":"timbroed/MUSES","url":"https://github.com/timbroed/MUSES"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"},{"leaderboard":"/sota/uncertainty-aware-panoptic-segmentation-on","task":"Uncertainty-Aware Panoptic Segmentation","dataset_variant":"MUSES: MUlti-SEnsor Semantic perception dataset","rows":1,"metrics":["AUPQ"],"first_row_in_archive_order":{"model":"Mask2Former (Swin-T)","paper":"/paper/muses-the-multi-sensor-semantic-perception","metrics":{"AUPQ":"44.3"},"code_links":[{"title":"timbroed/MUSES","url":"https://github.com/timbroed/MUSES"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/scene-centric-unsupervised-panoptic","title":"Scene-Centric Unsupervised Panoptic Segmentation","date":"2025-04-02","rows_on_this_dataset":3,"code_links":1,"syntology":{"read_at":"2026-09-25T09:33:49+00:00","samples_harvested":8,"samples_ran":3,"samples_unverified":5,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/condition-aware-multimodal-fusion-for-robust","title":"CAFuser: Condition-Aware Multimodal Fusion for Robust Semantic Perception of Driving Scenes","date":"2024-10-14","rows_on_this_dataset":2,"code_links":1,"syntology":{"read_at":"2026-09-25T09:33:49+00:00","samples_harvested":1,"samples_ran":1,"samples_unverified":0,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/muses-the-multi-sensor-semantic-perception","title":"MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertainty","date":"2024-01-23","rows_on_this_dataset":4,"code_links":1,"syntology":{"read_at":"2026-09-25T09:33:49+00:00","samples_harvested":13,"samples_ran":12,"samples_unverified":1,"pointer_only_for_licence":13,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/unsupervised-universal-image-segmentation","title":"Unsupervised Universal Image Segmentation","date":"2023-12-28","rows_on_this_dataset":1,"code_links":2,"syntology":{"read_at":"2026-09-25T09:33:49+00:00","samples_harvested":15,"samples_ran":13,"samples_unverified":2,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}}],"syntology_totals":{"read_at":"2026-09-25T09:33:49+00:00","papers_with_samples":4,"samples_harvested":37,"samples_ran":29,"samples_unverified":8,"pointer_only_for_licence":13,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}