MUAD

We introduce MUAD, a synthetic dataset for autonomous driving with multiple uncertainty types and tasks. It contains 10413 in total: 3420 images in the train set, 492 in the validation set and 6501 in the test set. The test set is divided as follows: 551 in the normal set, 102 in the normal set no shadow, 1668 in the OOD set, 605 in the low adversity set and 602 images in the high adversity set 1552 in the low adversity with OOD set and 1421 images in the high adversity with OOD set. All of these sets cover day and night conditions, with 2/3 being day images and 1/3 night images. Test datasets address diverse weather conditions (rain, snow, and fog with two different intensity levels) and multiple OOD objects.

MUAD has seven test sets:

• normal set: images without OOD objects nor adverse conditions
• low adversity with OOD set: images containing both OOD objects and medium intensity adversity conditions (either fog, rain or snow)
• high adversity with OOD set: images containing both OOD objects and high intensity adversity conditions (either fog, rain or snow)
• normal set no shadow: images without OOD objects nor adversity conditions and we simulate the sun like if it was 12:00 am so the shadow is minimum
• OOD set: images containing OOD objects and without adversity conditions
• low adversity set: images containing medium intensity adversity conditions (either fog, rain or snow)
• high adversity set: images containing high intensity adversity conditions (either fog, rain or snow)

MUAD supports four tasks:

• Semantic segmentation
• Depth estimation
• Object detection
• Instance detection

Overview of annotated classes:

There are a total of 155 fine grained classes, which are also aggregated in order to facilitate the use along with other datasets, e.g. Citiscapes:

Cityscapes classes	MUAD classes	nb. of images with the annotations
Road	Bots, Tram Tracks, Crosswalk, Parking Area, Garbage - Road, Road Lines, Sewer Longitudinal Crack, Transversal Crack, Road, Asphalt Hole, Polished Aggregate, Vegetation - Road, Sewer - Road, Construction Concrete	9055
Sidewalk	Lane Bike, Kerb Stone, Sidewalk, Kerb Rising Edge	8948
Building	House, Construction Scaffold, Building, Air Conditioning, Construction Container, TV Antenna, Terrace, Water Tank, Pergola Garden, Stairs, Dog House, Sunshades, Railings, Construction Stock, Marquees, Hangar Airport	9089
Wall	Wall	1101
Fence	Construction Fence, Fences	8622
Pole	Traffic Signs Poles or Structure, Traffic Lights Poles, Street lights, Lamp	8984
Traffic light	Traffic Lights Head, Traffic Cameras, Traffic Lights Bulb (red, yellow, green)	8222
Traffic sign	Traffic Signs	2672
Vegetation	Vegetation	9072
Terrain	Terrain, Tree Pit	8377
Sky	Sky	8591
Person	Walker, All colors of Construction Helmet, All colors of Safety Vest, Umbrella, People	8843
Rider	Cyclist, Biker	3470
Car	Car, Beacon Light, Van, Ego Car	9026
Truck	Truck	5533
Bus	Bus	0
Train	Train, Subway	2240
Motorcycle	Motorcycle, Segway, Scooter Child	2615
Bicycle	Bicycle, Kickbike, Tricycle	2816
Animals	Cow, Bear, Deer, Moose	603
Objects anomalies	Stand Food, Trash Can, Garbage bag	352
Background	Others	-