[ G = \frac1 - \textcontrast_global\textmax_contrast \times 0.4 + \frac\textsky_overlap_ratio\textroad_area \times 0.3 + \frac\textrain_probability1.0 \times 0.3 ]

Recommendation: KITTI extension “KITTI-Gloom” should label gloom level per frame and provide gloom-balanced test splits. “Gloomy Kitti” is more than a mood — it is a measurement of neglect . It represents all that benchmark rankings hide: the wet road, the twilight pedestrian, the low-contrast curb. To embrace gloomy KITTI is to admit that safety is not achieved under optimal conditions, but in the persistent, unglamorous, dimly lit corners of the real world. The sunlit KITTI is for papers. The gloomy KITTI is for production. Prepared by: Synthetic Intelligence Analysis Unit Classification: Unclassified — Safety-Critical Discussion Mood overlay: Overcast, 8°C, slight mist