AevaScenes: An FMCW LiDAR Dataset and Benchmark for Long-Range Perception

arXiv:2609.33230 · cs.CV, cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Benchmark — 14× in this paper · explained in 2 episodes
• Transformer — 7× in this paper · explained in 2 episodes
• Point Clouds — 6× in this paper · explained in 2 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Adam — 5× in this paper · explained in 2 episodes
• Aggregation — 3× in this paper · explained in 1 episode
• Clustering — 2× in this paper · explained in 2 episodes
• Multimodal Dataset — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Vehicle AP Vulnerable Road User — 2× in this paper
• Average Precision — 1× in this paper
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes

Sources

• HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors
• POD: Predictive Object Detection with Single-Frame FMCW LiDAR Point Cloud
• 4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving
• CAO-RONet: A Robust 4D Radar Odometry with Exploring More Information from Low-Quality Points
• Dynamic-ICP: Doppler-Aware Iterative Closest Point Registration for Dynamic Scenes
• SigLIP 2: Multilingual Vision-Language Encoders with Improved Semantic Understanding, Localization, and Dense Features

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