CoInfra: A Large-Scale Cooperative Infrastructure Perception System and Dataset in Adverse Weather

CoInfra is a real-world, large-scale cooperative perception system and dataset designed to support research in multi-agent perception, especially under adverse weather conditions (snow, rain, freezing rain). It features 14 synchronized infrastructure nodes, each with a LiDAR and dual cameras, deployed across a shared region for full-scene coverage.

Extraction Instructions

The archives are compressed using zstd for fast decompression. To extract the dataset, you need to have zstd installed. You can install it via package managers like apt, brew.

To extract an archive, use the following command:

tar --use-compress-program=zstd -xf [archive_file.tar.zst]

To extract all archives in a directory, you can use:

for archive in *.tar.zst; do
    echo "Extracting $archive..."
    tar --use-compress-program=zstd -xf "$archive"
done

📖 Citation

If you use CoInfra, please cite:

@article
{ning2025coinfra,
title={CoInfra: A Large-Scale Cooperative Infrastructure Perception System and Dataset in Adverse Weather},
author={Ning, Minghao and Yang, Yufeng and Shu, Keqi and Huang, Shucheng and Zhong, Jiaming and Salehi, Maryam and Rahmani, Mahdi and Lu, Yukun and Sun, Chen and Saleh, Aladdin and Hashemi, Ehsan and Khajepour, Amir},
journal={arXiv preprint arXiv:2507.02245},
url={https://arxiv.org/abs/2507.02245},
year={2025}
}