CarlAnomaly

A CARLA-based Dataset for Multi-Modal Anomaly Detection
in Autonomous Driving Scenarios

Multi-Modal

  • 4 RGB-D Cameras
  • LiDAR
  • IMU
  • GNSS

Anomalies

  • Various Types
  • Manually Verified
  • Diverse Environmental Conditions

Large Scale

  • 728 scenarios
  • 491,100 annotated frames
  • 520 anomaly test clips
  • 1.8 TB
Paper
@inproceedings{


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Example Anomalies

CarlAnomaly contains 1.8 TB of synchronized multi-modal driving data across 728 CARLA scenarios and 491,100 annotated frames.

License: MIT
The CarlAnomaly dataset, including all software and models, is licensed under the MIT which you can find here.