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KITTI-AR-OoD

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We release a road-scene 3D anomaly object detection dataset based on augmented reality.
The dataset consists of two subsets:

  • Auxiliary Training Set: contains multi-scale distributions composed of common object types.
  • OoD Evaluation Set: composed of rare and unknown categories for out-of-distribution evaluation.

The ground truth annotations strictly follow the format of the KITTI 3D Object Detection dataset.

Details of the synthesis process and evaluation baselines can be found in our paper:
Stereo-based 3D Anomaly Object Detection for Autonomous Driving: A New Dataset and Baseline.

paper link: http://arxiv.org/abs/2507.09214

github baseline code: https://github.com/shiyi-mu/S3AD-Code

license: apache-2.0

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