DOLPHINS: Dataset for Collaborative Perception enabled Harmonious and Interconnected Self-driving

Ruiqing Mao, Jingyu Guo, Yukuan Jia, Yuxuan Sun, Sheng Zhou, Zhisheng Niu; Proceedings of the Asian Conference on Computer Vision (ACCV), 2022, pp. 4361-4377


Vehicle-to-Everything (V2X) network has enabled collaborative perception in autonomous driving, which is a promising solution to the fundamental defect of stand-alone intelligence including blind zones and long-range perception. However, the lack of datasets has severely blocked the development of collaborative perception algorithms. In this work, we release DOLPHINS: Dataset for cOLlaborative Perception enabled Harmonious and INterconnected Self-driving, as a new simulated large-scale various-scenario multi-view multi-modality autonomous driving dataset, which provides a ground-breaking benchmark platform for interconnected autonomous driving. DOLPHINS outperforms current datasets in six dimensions: temporally-aligned images and point clouds from both vehicles and Road Side Units (RSUs) enabling both Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) based collaborative perception; 6 typical scenarios with dynamic weather conditions make the most various interconnected autonomous driving dataset; meticulously selected viewpoints providing full coverage of the key areas and every object; 42376 frames and 292549 objects, as well as the corresponding 3D annotations, geo-positions, and calibrations, compose the largest dataset for collaborative perception; Full-HD images and 64-line LiDARs construct high-resolution data with sufficient details; well-organized APIs and open-source codes ensure the extensibility of DOLPHINS. We also construct a benchmark of 2D detection, 3D detection, and multi-view collaborative perception tasks on DOLPHINS. The experiment results show that the raw-level fusion scheme through V2X communication can help to improve the precision as well as to reduce the necessity of expensive LiDAR equipment on vehicles when RSUs exist, which may accelerate the popularity of interconnected self-driving vehicles. DOLPHINS dataset and related codes are now available on

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@InProceedings{Mao_2022_ACCV, author = {Mao, Ruiqing and Guo, Jingyu and Jia, Yukuan and Sun, Yuxuan and Zhou, Sheng and Niu, Zhisheng}, title = {DOLPHINS: Dataset for Collaborative Perception enabled Harmonious and Interconnected Self-driving}, booktitle = {Proceedings of the Asian Conference on Computer Vision (ACCV)}, month = {December}, year = {2022}, pages = {4361-4377} }