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A Multi-Vehicle Dataset with Camera, LiDAR, and Radar Sensors and Scanned 3D Models for Custom Auto-Annotation using RTK-GNSS

arXiv · AI, language, vision and robotics · article · Sep 11, 2026 · UTC

Datasets are a crucial element in the development of perception algorithms. They relate sensor measurement data to annotated reference information and allow for the deduction of sensor and object characteristics. In autonomous driving, the reference data commonly consist of semantic image segmentation, point-wise associations, or bounding box annotations. The dataset proposed in this work, however, aims to dig deeper into the evaluation of measurement principles and provides scanned 3D models of all vehicles together with a pose and continuous kinematics reference obtained by RTK-GNSS. Combine

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