{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/4seasons-a-cross-season-dataset-for-multi","title":"4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving","arxiv_id":"2009.06364","date":"2020-09-14","proceeding":null,"authors":["Patrick Wenzel","Rui Wang","Nan Yang","Qing Cheng","Qadeer Khan","Lukas von Stumberg","Niclas Zeller","Daniel Cremers"],"abstract":"We present a novel dataset covering seasonal and challenging perceptual conditions for autonomous driving. Among others, it enables research on visual odometry, global place recognition, and map-based re-localization tracking. The data was collected in different scenarios and under a wide variety of weather conditions and illuminations, including day and night. This resulted in more than 350 km of recordings in nine different environments ranging from multi-level parking garage over urban (including tunnels) to countryside and highway. We provide globally consistent reference poses with up-to centimeter accuracy obtained from the fusion of direct stereo visual-inertial odometry with RTK-GNSS. The full dataset is available at https://www.4seasons-dataset.com.","url_abs":"https://arxiv.org/abs/2009.06364v2","url_pdf":"https://arxiv.org/pdf/2009.06364v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"visual-odometry","task_name":"Visual Odometry"}],"methods":[],"datasets_introduced":[{"slug":"4seasons","name":"4Seasons","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2009.06364","atlas_url":"https://app.syntology.ai/?focus=2009.06364","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}