REHEARSE-3D: A Multi-modal Emulated Rain Dataset for 3D Point Cloud De-raining

• URL: http://arxiv.org/abs/2504.21699v1
• Date: Wed, 30 Apr 2025 14:43:38 GMT
• Title: REHEARSE-3D: A Multi-modal Emulated Rain Dataset for 3D Point Cloud De-raining
• Authors: Abu Mohammed Raisuddin, Jesper Holmblad, Hamed Haghighi, Yuri Poledna, Maikol Funk Drechsler, Valentina Donzella, Eren Erdal Aksoy,
• Abstract summary: We release a new, large-scale, multi-modal emulated rain dataset, REHEARSE-3D, to promote research advancements in 3D point cloud de-raining.<n>First, it is the largest point-wise annotated dataset, and second, it is the only one with high-resolution LiDAR data enriched with 4D Radar point clouds.<n>We benchmark raindrop detection and removal in fused LiDAR and 4D Radar point clouds.
• Score: 0.5668912212306543
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Sensor degradation poses a significant challenge in autonomous driving. During heavy rainfall, the interference from raindrops can adversely affect the quality of LiDAR point clouds, resulting in, for instance, inaccurate point measurements. This, in turn, can potentially lead to safety concerns if autonomous driving systems are not weather-aware, i.e., if they are unable to discern such changes. In this study, we release a new, large-scale, multi-modal emulated rain dataset, REHEARSE-3D, to promote research advancements in 3D point cloud de-raining. Distinct from the most relevant competitors, our dataset is unique in several respects. First, it is the largest point-wise annotated dataset, and second, it is the only one with high-resolution LiDAR data (LiDAR-256) enriched with 4D Radar point clouds logged in both daytime and nighttime conditions in a controlled weather environment. Furthermore, REHEARSE-3D involves rain-characteristic information, which is of significant value not only for sensor noise modeling but also for analyzing the impact of weather at a point level. Leveraging REHEARSE-3D, we benchmark raindrop detection and removal in fused LiDAR and 4D Radar point clouds. Our comprehensive study further evaluates the performance of various statistical and deep-learning models. Upon publication, the dataset and benchmark models will be made publicly available at: https://sporsho.github.io/REHEARSE3D.

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