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原文摘要

Fog degrades autonomous-driving perception across modalities: it lowers image contrast, attenuates and scatters LiDAR returns, and shifts the input distribution of every learned module downstream. Choosing between restoring the degraded input and training on it directly requires the same scenes observed with and without fog at known severities, and enough foggy data to train on. Real-world capture cannot supply this: fog arrives entangled with lighting and traffic, at severities recorded rather than chosen; existing synthetic datasets narrow the sensor suite, the scale, or the severity range. We present FogDrive, a CARLA dataset of ~660 scenes (~133k frames), each released as a clear reference plus three calibrated fog densities, with physics-based fog on camera and LiDAR and 2D/3D annotations consistent across all variants. Every frame carries four cameras (RGB, depth, semantic), LiDAR, semantic LiDAR and radar -- spanning fog's response spectrum from heavily degraded cameras to largely unaffected radar. Experiments trained on FogDrive show that mixing fog densities improves 3D detection at no extra data cost, that PSNR and SSIM poorly predict a dehazer's detection benefit, and that radar improves camera-LiDAR fusion at every density. The dataset and its generation framework will be released.