{"id":"https://openalex.org/W7083822227","doi":"https://doi.org/10.21227/fd64-0p49","title":"\"Occluded nuScenes: A Multi-Sensor Dataset for Evaluating Perception Robustness in Automated Driving\"","display_name":"\"Occluded nuScenes: A Multi-Sensor Dataset for Evaluating Perception Robustness in Automated Driving\"","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W7083822227","doi":"https://doi.org/10.21227/fd64-0p49"},"language":"en","primary_location":{"id":"doi:10.21227/fd64-0p49","is_oa":true,"landing_page_url":"https://doi.org/10.21227/fd64-0p49","pdf_url":null,"source":{"id":"https://openalex.org/S7407051695","display_name":"IEEE DataPort","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Dataset"},"type":"dataset","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.21227/fd64-0p49","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Sanjay kumar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sanjay kumar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Tim Brophy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tim Brophy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Eoin Martino Grua","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Eoin Martino Grua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Ganesh Sistu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ganesh Sistu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Valentina Donzella","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Valentina Donzella","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Ciaran Eising","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ciaran Eising","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.6866000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.6866000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13067","display_name":"Geological Modeling and Analysis","score":0.024000000208616257,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14311","display_name":"Electrical and Electromagnetic Research","score":0.01759999990463257,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7864999771118164},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5504999756813049},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.44369998574256897},{"id":"https://openalex.org/keywords/scripting-language","display_name":"Scripting language","score":0.427700012922287},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4174000024795532},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.36629998683929443}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7864999771118164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7246000170707703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5576000213623047},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5504999756813049},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4537999927997589},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C61423126","wikidata":"https://www.wikidata.org/wiki/Q187432","display_name":"Scripting language","level":2,"score":0.427700012922287},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4174000024795532},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.36629998683929443},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.36399999260902405},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.3522999882698059},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.34209999442100525},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.3246999979019165},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.3034000098705292},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29350000619888306}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.21227/fd64-0p49","is_oa":true,"landing_page_url":"https://doi.org/10.21227/fd64-0p49","pdf_url":null,"source":{"id":"https://openalex.org/S7407051695","display_name":"IEEE DataPort","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Dataset"}],"best_oa_location":{"id":"doi:10.21227/fd64-0p49","is_oa":true,"landing_page_url":"https://doi.org/10.21227/fd64-0p49","pdf_url":null,"source":{"id":"https://openalex.org/S7407051695","display_name":"IEEE DataPort","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Dataset"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"\"Robust":[0],"perception":[1,55,138,167],"in":[2,168],"automated":[3,169],"driving":[4],"requires":[5],"reliable":[6],"performance":[7],"under":[8,60,140],"adverse":[9],"conditions,":[10],"where":[11],"sensors":[12],"are":[13],"often":[14],"affected":[15],"by":[16],"partial":[17,141],"failures,":[18],"blockages,":[19],"or":[20],"environmental":[21,145],"occlusions.":[22],"While":[23],"existing":[24],"benchmarks":[25],"primarily":[26],"provide":[27,112],"clean":[28],"multi-sensor":[29,151],"data,":[30],"no":[31],"publicly":[32],"available":[33],"dataset":[34],"currently":[35],"applies":[36],"systematic":[37],"and":[38,44,56,90,103,109,134,144,165],"realistic":[39],"occlusions":[40,97],"across":[41],"camera,":[42],"radar,":[43],"LiDAR":[45],"modalities.":[46],"This":[47,130],"gap":[48],"limits":[49],"the":[50,68,76,82,88,124,149],"ability":[51],"to":[52,156],"evaluate":[53],"how":[54],"fusion":[57],"architectures":[58],"degrade":[59],"challenging":[61],"conditions.":[62],"To":[63],"address":[64],"this,":[65],"we":[66,85,111,154],"introduce":[67],"Occluded":[69],"nuScenes":[70,79],"Dataset,":[71],"a":[72],"novel":[73,105],"extension":[74],"of":[75,96,120,127,137],"widely":[77],"used":[78],"benchmark.":[80],"For":[81,107],"camera":[83],"modality,":[84],"release":[86],"both":[87],"full":[89],"mini":[91],"versions":[92],"with":[93],"four":[94],"types":[95,119],"(two":[98],"adapted":[99],"from":[100],"public":[101],"implementations":[102],"two":[104],"designs).":[106],"radar":[108],"LiDAR,":[110],"parameterised":[113],"occlusion":[114,152],"scripts":[115],"that":[116],"implement":[117],"three":[118],"degradations":[121],"each,":[122],"enabling":[123],"flexible":[125],"generation":[126],"occluded":[128],"data.":[129],"resource":[131],"allows":[132],"consistent":[133],"reproducible":[135],"evaluation":[136],"models":[139],"sensor":[142,161],"failure":[143],"interference.":[146],"By":[147],"releasing":[148],"first":[150],"benchmark,":[153],"aim":[155],"accelerate":[157],"research":[158],"on":[159],"robust":[160],"fusion,":[162],"resilience":[163],"analysis,":[164],"safety-critical":[166],"driving.\"":[170]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}
