Pedestrian detection is fundamental to autonomous driving, robotics, and surveillance. Despite progress in deep learning, reliable identification remains challenging due to occlusions, cluttered backgrounds, and degraded visibility. While multispectral detection-combining visible and thermal sensors-mitigates poor visibility, the challenge of camouflaged pedestrians remains largely unexplored. Existing Camouflaged Object Detection (COD) benchmarks focus on biological species, leaving a gap in safety-critical human detection where targets blend into their surroundings. To address this, we introduce Camo-M3FD (derived from the M3FD dataset), a novel benchmark for cross-spectral camouflaged pedestrian detection, consisting of registered visible-thermal image pairs. The dataset is curated using quantitative metrics to ensure high foreground-background similarity. We provide high-quality pixel-level masks and establish a standardized evaluation framework using state-of-the-art COD models. Our results demonstrate that while thermal signals provide indispensable localization cues, multispectral fusion is essential for refining structural details. Camo-M3FD serves as a foundational resource for developing robust and safety-critical detection systems. The dataset is available on GitHub: https://cod-espol.github.io/Camo-M3FD/
@article{arxiv.2604.16582,
title = {Camo-M3FD: A New Benchmark Dataset for Cross-Spectral Camouflaged Pedestrian Detection},
author = {Henry O. Velesaca and Andrea Mero and Guillermo A. Castillo and Angel D. Sappa},
journal= {arXiv preprint arXiv:2604.16582},
year = {2026}
}