DSERT-RoLL: Robust Multi-Modal Perception for Diverse Driving Conditions with Stereo Event-RGB-Thermal Cameras, 4D Radar, and Dual-LiDAR

DSERT-RoLL is a multimodal driving dataset featuring stereo event cameras, RGB and thermal cameras, 4D radar, and dual LiDAR collected under diverse weather and lighting conditions. The dataset provides 2D/3D annotations with tracking and odometry and introduces unified detection benchmarks for fair comparison across sensor modalities. We also present baseline results and a multimodal fusion framework that improves robust 3D detection under challenging environments.