MuFoRa – A Multimodal Dataset of Traffic Elements Under Controllable and Measured Adverse Weather Conditions of Fog and Rain

This is a novel multimodal dataset of traffic elements consisting of image and point cloud files in typical adverse weather situations especially suited for autonomous driving sensors and algorithms performance characterization. The specialty of this dataset arises from parametric acquisition under controllable and measured fog (quantified as visibility) and rain intensity conditions in the indoor test facility of CARISMA - THI in collaboration with HM.