A Multi-Task 4D Radar-Camera Fusion Dataset for Autonomous Driving on Water Surfaces description of the dataset

• WaterScenes, the first multi-task 4D radar-camera fusion dataset on water surfaces, which offers data from multiple sensors, including a 4D radar, monocular camera, GPS, and IMU. It can be applied in multiple tasks, such as object detection, instance segmentation, semantic segmentation, free-space segmentation, and waterline segmentation.
• Our dataset covers diverse time conditions (daytime, nightfall, night), lighting conditions (normal, dim, strong), weather conditions (sunny, overcast, rainy, snowy) and waterway conditions (river, lake, canal, moat). An information list is also offered for retrieving specific data for experiments under different conditions.
• We provide 2D box-level and pixel-level annotations for camera images, and 3D point-level annotations for radar point clouds. We also offer precise timestamps for the synchronization of different sensors, as well as intrinsic and extrinsic parameters.
• We provide a toolkit for radar point clouds that includes: pre-processing, labeling, projection and visualization, assisting researchers in processing and analyzing our dataset.