Foggy Cityscapes is a synthetic foggy image dataset. Each foggy image in this dataset is rendered using a clear image and depth map from the Cityscapes dataset, containing a total of 20,550 images.

Because each image in the Foggy Cityscapes dataset is made by adding artificially synthesized fog to the Cityscapes dataset, the annotation information and data segmentation are exactly the same as the original Cityscapes dataset.