Abstract
Recent advances in 3D semantic segmentation have significantly improved scene understanding in autonomous driving. However, existing methods are typically developed under a closed-set assumption and evaluated under standard driving conditions, where all categories are known in advance. In real-world driving, autonomous vehicles inevitably encounter previously unseen objects, making closed-set perception insufficient for safe deployment. To address this challenge, we introduce DriveOSS, which, to the best of our knowledge, is the first real-world multimodal dataset and benchmark specifically designed for 3D anomaly segmentation and open-set semantic segmentation. It contains 12,661 synchronized and annotated frames captured using six surround-view RGB cameras, a 128-beam LiDAR, and a GPS/IMU unit. The dataset comprises 52 real-world driving scenes collected under clear, nighttime, cloudy, rainy, and snowy conditions and is organized into ID (in-distribution) and OOD (out-of-distribution) subsets. The ID scenes contain only known classes and are used for training, whereas the OOD scenes additionally contain unknown objects annotated as the outlier class and are used for validation and testing. Extensive experiments show that unseen objects remain a major challenge for current 3D perception systems. The dataset, benchmark protocols, and code are available at this https URL.
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URL
https://arxiv.org/abs/2610.32612
