Towards All-Day Perception for Off-Road Driving: A Large-Scale Multispectral Dataset and Comprehensive Benchmark

ArXi:2604.27499v1 Announce Type: new Off-road nighttime autonomous driving suffers from unreliable visible-light perception, making infrared modality crucial for accurate freespace detection. However, progress remains limited due to the scarcity of annotated infrared off-road datasets and the inter-frame inconsistencies inherent to current single-frame methods. To address these gaps, we present the IRON dataset, which, to our knowledge, is the first large-scale infrared dataset for off-road temporal freespace detection under all-day conditions, with strong for nighttime perception.