RESOLVE: A Multi-Resolution and Multi-Modal Dataset for Roadside Cooperative Perception

LiDAR has increasingly been integrated into traffic cameras to expand coverage and mitigate occlusion in roadside cooperative perception. However, how unimodal and camera-LiDAR fusion architectures behave under variations in LiDAR point sparsity induced by sensor configurations and scene-dependent sensing conditions remains underexplored. We introduce RESOLVE, a large-scale real-world benchmark dataset featuring multi-resolution roadside LiDAR and synchronized camera-LiDAR sensing for systematic evaluation of unimodal and fusion-based architectures in roadside 3D detection and tracking. RESOLV