  Research on autonomous driving is advancing dramatically and requires new
data and techniques to progress even further. To reflect this pressure, we
present an extension of our recent work - the Brno Urban Dataset (BUD). The new
data focus on winter conditions in various snow-covered environments and
feature additional LiDAR and radar sensors for object detection in front of the
vehicle. The improvement affects the old data as well. We provide YOLO
detection annotations for all old RGB images in the dataset. The detections are
further also transferred by our original algorithm into the infra-red (IR)
images, captured by the thermal camera. To our best knowledge, it makes this
dataset the largest source of machine-annotated thermal images currently
available. The dataset is published under MIT license on
https://github.com/Robotics-BUT/Brno-Urban-Dataset.
